diff --git a/src/xml/nav_main_tree.xml b/src/xml/nav_main_tree.xml new file mode 100644 index 0000000000000000000000000000000000000000..49ea3e2e2906242a43013c3280e32e2c631275ff --- /dev/null +++ b/src/xml/nav_main_tree.xml @@ -0,0 +1,56 @@ +<root main_tree_to_execute="NAV_MAIN"> + <BehaviorTree ID="NAV_MAIN"> + <Fallback> + <SequenceStar> + <Action ID="set_goal_frame" frame_id="/map"/> + <Fallback> + <SubTree ID="go_to_goal" x="x" y="y" yaw="yaw" heading_tol="heading_tol" x_y_pos_tol="x_y_pos_tol" update_goal="update_goal"/> + <ForceFailure> + <Action ID="current_status" status_code="{NAV_BT_status}"/> + </ForceFailure> + </Fallback> + </SequenceStar> + <ForceFailure> + <Action ID="sync_stop"/> + </ForceFailure> + </Fallback> + </BehaviorTree> + + <BehaviorTree ID="go_to_goal"> + <Sequence> + <Action ID="set_goal_frame" frame_id="/map"/> + <Timeout msec="6000000"> + <RetryUntilSuccesful num_attempts="3"> + <Action ID="async_go_to_pose" x="{x}" y="{y}" yaw="{yaw}" heading_tol="{heading_tol}" x_y_pos_tol="{x_y_pos_tol}" update_goal="{update_goal}"/> + </RetryUntilSuccesful> + </Timeout> + <Condition ID="is_succeded"/> + <Action ID="current_status" status_code="{NAV_BT_status}"/> + </Sequence> + </BehaviorTree> + +<!-- + <BehaviorTree ID="change_orientation"> + <Sequence> + <Timeout msec="20000"> + <RetryUntilSuccesful num_attempts="3"> + <Action ID="async_go_to_orientation" yaw="{yaw}" heading_tol="0.1"/> + </RetryUntilSuccesful> + </Timeout> + <Condition ID="is_succeded"/> + </Sequence> + </BehaviorTree> + + <BehaviorTree ID="change_position"> + <Sequence> + <Action ID="set_goal_frame" frame_id="/ana/base_link"/> + <Timeout msec="10000"> + <RetryUntilSuccesful num_attempts="3"> + <Action ID="async_go_to_position" x="-0.5" y="0.0" x_y_pos_tol="0.2"/> + </RetryUntilSuccesful> + </Timeout> + <Condition ID="is_succeded"/> + </Sequence> + </BehaviorTree> + --> +</root> diff --git a/src/xml/nav_restart_tree.xml b/src/xml/nav_restart_tree.xml new file mode 100644 index 0000000000000000000000000000000000000000..d1d75673fbb65a944edfef8755f8a2af04819223 --- /dev/null +++ b/src/xml/nav_restart_tree.xml @@ -0,0 +1,15 @@ +<root main_tree_to_execute="NAV_RESTART"> + <BehaviorTree ID="NAV_RESTART"> + <SequenceStar> + <Action ID="sync_stop"/> + <ReactiveFallback> + <Condition ID="is_finished"/> + <Timeout msec="10000"> + <Action ID="NOP"/> + </Timeout> + </ReactiveFallback> + <Action ID="costmaps_clear"/> + <Action ID="reset_goal_variables"/> + </SequenceStar> + </BehaviorTree> +</root>