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try_plenter.xml
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<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
<BehaviorTree ID="try_plenter">
<Sequence>
<SubTree ID="try_move_weed"
color="{color}"
table="{table}"
_autoremap="false"/>
<JointPosition instance="m2"
max_effort="0"
max_velocity="180"
position="140"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m1"
max_effort="0"
max_velocity="180"
position="170"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Parallel failure_count="1"
success_count="-1">
<Move goal="-0.25;-1.1;-110"
ignore_obstacles="true"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="7"/>
<JointPosition instance="m1"
max_effort="0"
max_velocity="180"
position="190"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Parallel>
<Move goal="-0.25;-1.355;-110"
ignore_obstacles="true"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="2"/>
<JointPosition instance="m1"
max_effort="0"
max_velocity="130"
position="235"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Rotate angle="-180"
angular_velocity="1.5"
frame_id="map"
ignore_obstacles="true"
error="{error}"/>
<Move goal="-0.65;-1.355;-90"
ignore_obstacles="true"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="2"/>
<Parallel failure_count="1"
success_count="-1">
<Move goal="-0.22;-1.355;-90"
ignore_obstacles="true"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="2"/>
<JointPosition instance="m4"
max_effort="0"
max_velocity="180"
position="0"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Parallel>
<JointPosition instance="m2"
max_effort="0"
max_velocity="180"
position="180"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m1"
max_effort="0"
max_velocity="220"
position="275"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Move goal="-0.44;-1.3;-90"
ignore_obstacles="true"
linear_velocity="0.3"
frame_id="map"
angular_velocity="1.0"
mode="3"/>
<Fallback>
<Move goal="-0.39;-1.397;-90"
ignore_obstacles="true"
linear_velocity="0.3"
frame_id="map"
angular_velocity="1.0"
mode="3"/>
<Translate frame_id="base_link"
ignore_obstacles="false"
x="-0.01"
error="{error}"
linear_velocity="0.5"/>
</Fallback>
<SubTree ID="try_put_plenter_front"
color="{color}"
table="{table}"
_autoremap="false"/>
</Sequence>
</BehaviorTree>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Action ID="JointPosition"
editable="true">
<input_port name="instance"/>
<input_port name="max_effort"
default="0"/>
<input_port name="max_velocity"
default="180"/>
<input_port name="position"/>
<input_port name="tolerance"
default="10"/>
<output_port name="feedback_effort"
default="{feedback_effort}"/>
<output_port name="feedback_position"
default="{feedback_position}"/>
<output_port name="result"
default="{result}"/>
</Action>
<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="base_link"/>
<input_port name="angular_velocity"
default="1.0"/>
<input_port name="mode"
default="7"/>
</Action>
<Action ID="Rotate"
editable="true">
<input_port name="angle"/>
<input_port name="angular_velocity"
default="1.5"/>
<input_port name="frame_id"
default="base_link"/>
<input_port name="ignore_obstacles"
default="false"/>
<input_port name="error"
default="{error}"/>
</Action>
<Action ID="Translate"
editable="true">
<input_port name="frame_id"
default="base_link"/>
<input_port name="ignore_obstacles"
default="false"/>
<input_port name="x"/>
<input_port name="error"
default="{error}"/>
<input_port name="linear_velocity"
default="0.5"/>
</Action>
</TreeNodesModel>
</root>