timeout.xml

<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
  <BehaviorTree ID="timeout">
    <Sequence>
      <ScoreboardTask points="0"
                      task="INIT_DISPLAY"/>
      <SubTree ID="init_up"
               _autoremap="true"/>
      <WaitMatchStart state="2"/>
      <ForceSuccess>
        <Timeout msec="100000">
          <ForceSuccess>
            <Sequence>
              <ForceSuccess>
                <Timeout msec="85000">
                  <Sequence>
                    <SubTree ID="blue_panel_simple"
                             _autoremap="true"/>
                    <Sleep msec="120000"/>
                  </Sequence>
                </Timeout>
              </ForceSuccess>
              <RetryUntilSuccessful num_attempts="5">
                <Sequence>
                  <Move goal="-0.48;-1.15;180"
                        ignore_obstacles="false"
                        linear_velocity="1.5"
                        frame_id="map"
                        angular_velocity="2.5"
                        mode="7"
                        linear_acceleration="1.0"
                        angular_acceleration="2.2"/>
                  <Sleep msec="300"/>
                </Sequence>
              </RetryUntilSuccessful>
              <ScoreboardTask points="10"
                              task="FINISH"/>
              <SubTree ID="init"
                       _autoremap="true"/>
              <Sleep msec="120000"/>
            </Sequence>
          </ForceSuccess>
        </Timeout>
      </ForceSuccess>
    </Sequence>
  </BehaviorTree>

  <!-- Description of Node Models (used by Groot) -->
  <TreeNodesModel>
    <Action ID="Move"
            editable="true">
      <input_port name="goal"/>
      <inout_port name="ignore_obstacles"
                  default="true"/>
      <input_port name="linear_velocity"
                  default="0.5"/>
      <input_port name="frame_id"
                  default="map"/>
      <input_port name="angular_velocity"
                  default="1.0"/>
      <input_port name="mode"
                  default="7"/>
      <input_port name="linear_acceleration"
                  default="0.8"/>
      <input_port name="angular_acceleration"
                  default="1.8"/>
    </Action>
    <Action ID="ScoreboardTask"
            editable="true">
      <input_port name="points"
                  default="0">points scored, can be negative</input_port>
      <input_port name="task"
                  default="store_sample_to_work_shed">unique task name</input_port>
    </Action>
    <Action ID="WaitMatchStart"
            editable="true">
      <input_port name="state"
                  default="2">0 = unarmed; 1 = armed; 2 = started</input_port>
    </Action>
  </TreeNodesModel>

</root>