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yellow_new_ss.xml
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<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
<BehaviorTree ID="yellow_new_ss">
<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="89000">
<Sequence>
<ForceSuccess>
<Sequence>
<JointPosition instance="m15"
max_effort="0"
max_velocity="220"
position="288"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Fallback>
<RetryUntilSuccessful num_attempts="4">
<Fallback>
<Move goal="0.75;0.45;-90"
ignore_obstacles="false"
linear_velocity="1.2"
frame_id="map"
angular_velocity="1.0"
mode="7"
linear_acceleration="1.0"
angular_acceleration="1.8"
reversing="0"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
</Fallback>
</Sequence>
</ForceSuccess>
<SubTree ID="try_yellow_alternative"
_autoremap="true"/>
<Sleep msec="120000"/>
</Sequence>
</Timeout>
</ForceSuccess>
<SubTree ID="go_home_yellow_new"
_autoremap="true"/>
<JointPosition instance="m15"
max_effort="0"
max_velocity="220"
position="299"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<ScoreboardTask points="10"
task="FINISH"/>
<Sleep msec="120000"/>
</Sequence>
</ForceSuccess>
</Timeout>
</ForceSuccess>
</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="false"/>
<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"/>
<input_port name="reversing"
default="0"/>
</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>