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Format XML of BT.
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@evshary
evshary committed May 18, 2020
1 parent 55e4658 commit 3b6c279
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Showing 4 changed files with 102 additions and 132 deletions.
48 changes: 23 additions & 25 deletions BT_sample/cfg/basement_bt.xml
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Original file line number Diff line number Diff line change
@@ -1,27 +1,25 @@
<root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Repeat num_cycles="3">
<Sequence name="root_sequence">
<WaitForButton/>
<SetBlackboard output_key="Initial_pose" value="-7.307;-7.546;0" />
<SetBlackboard output_key="Goal_a" value="-9.9;-2.65;0" />
<SetBlackboard output_key="Goal_b" value="-5.0;16.5;0" />
<SetBlackboard output_key="Goal_c" value="2.5;12.3;0" />
<SetBlackboard output_key="Goal_end" value="-7.307;-7.546;0" />
<SubTree ID="MoveRobot" target="Initial_pose" />
<SubTree ID="MoveRobot" target="Goal_a" />
<SubTree ID="MoveRobot" target="Goal_b" />
<SubTree ID="MoveRobot" target="Goal_c" />
<SubTree ID="MoveRobot" target="Goal_end" />
</Sequence>
</Repeat>
</BehaviorTree>
<root main_tree_to_execute = "MainTree">
<BehaviorTree ID="MainTree">
<Repeat num_cycles="3">
<Sequence name="root_sequence">
<WaitForButton/>
<SetBlackboard output_key="Initial_pose" value="-7.307;-7.546;0" />
<SetBlackboard output_key="Goal_a" value="-9.9;-2.65;0" />
<SetBlackboard output_key="Goal_b" value="-5.0;16.5;0" />
<SetBlackboard output_key="Goal_c" value="2.5;12.3;0" />
<SetBlackboard output_key="Goal_end" value="-7.307;-7.546;0" />
<SubTree ID="MoveRobot" target="Initial_pose" />
<SubTree ID="MoveRobot" target="Goal_a" />
<SubTree ID="MoveRobot" target="Goal_b" />
<SubTree ID="MoveRobot" target="Goal_c" />
<SubTree ID="MoveRobot" target="Goal_end" />
</Sequence>
</Repeat>
</BehaviorTree>


<BehaviorTree ID="MoveRobot">
<Sequence name="SetGoal">
<MoveBase goal="{target}" />
</Sequence>
</BehaviorTree>

<BehaviorTree ID="MoveRobot">
<Sequence name="SetGoal">
<MoveBase goal="{target}" />
</Sequence>
</BehaviorTree>
</root>
60 changes: 29 additions & 31 deletions BT_sample/cfg/bt_low_battery.xml
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Original file line number Diff line number Diff line change
@@ -1,33 +1,31 @@
<root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence>
<SetBlackboard output_key="Initial_pose" value="-6.615;-7.224;-0.245" />
<SetBlackboard output_key="Goal_a" value="-4.550;0.0;-0.405" />
<SetBlackboard output_key="Goal_b" value="-0.107;-0.281;2.989" />
<SetBlackboard output_key="Goal_c" value="-1.5;1.8;0.0" />
<Fallback>
<ReactiveSequence>
<CheckBattery wait_tick="125" />
<Sequence>
<SubTree ID="MoveRobot" target="Initial_pose" />
<SubTree ID="MoveRobot" target="Goal_a" />
<SubTree ID="MoveRobot" target="Goal_c" />
<SubTree ID="MoveRobot" target="Goal_b" />
</Sequence>
</ReactiveSequence>
<Sequence>
<AlarmEventLED />
<SubTree ID="MoveRobot" target="Initial_pose" />
</Sequence>
</Fallback>
</Sequence>
</BehaviorTree>
<root main_tree_to_execute = "MainTree">
<BehaviorTree ID="MainTree">
<Sequence>
<SetBlackboard output_key="Initial_pose" value="-6.615;-7.224;-0.245" />
<SetBlackboard output_key="Goal_a" value="-4.550;0.0;-0.405" />
<SetBlackboard output_key="Goal_b" value="-0.107;-0.281;2.989" />
<SetBlackboard output_key="Goal_c" value="-1.5;1.8;0.0" />
<Fallback>
<ReactiveSequence>
<CheckBattery wait_tick="125" />
<Sequence>
<SubTree ID="MoveRobot" target="Initial_pose" />
<SubTree ID="MoveRobot" target="Goal_a" />
<SubTree ID="MoveRobot" target="Goal_c" />
<SubTree ID="MoveRobot" target="Goal_b" />
</Sequence>
</ReactiveSequence>
<Sequence>
<AlarmEventLED />
<SubTree ID="MoveRobot" target="Initial_pose" />
</Sequence>
</Fallback>
</Sequence>
</BehaviorTree>


<BehaviorTree ID="MoveRobot">
<Sequence name="SetGoal">
<MoveBase goal="{target}" />
</Sequence>
</BehaviorTree>

<BehaviorTree ID="MoveRobot">
<Sequence name="SetGoal">
<MoveBase goal="{target}" />
</Sequence>
</BehaviorTree>
</root>
48 changes: 23 additions & 25 deletions BT_sample/cfg/bt_navigation.xml
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Original file line number Diff line number Diff line change
@@ -1,27 +1,25 @@
<root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence>
<SetBlackboard output_key="Initial_pose" value="0.017;0.535;0.000" />
<SetBlackboard output_key="Goal_a" value="0.543;0.089;0.000" />
<SetBlackboard output_key="Goal_b" value="-0.898;-1.182;0.0" />
<SetBlackboard output_key="Goal_c" value="-1.364;-0.344;0.00" />
<Fallback>
<Sequence>
<SubTree ID="MoveRobot" target="Initial_pose" />
<SubTree ID="MoveRobot" target="Goal_a" />
<SubTree ID="MoveRobot" target="Goal_b" />
<SubTree ID="MoveRobot" target="Goal_c" />
</Sequence>
<AlarmEventLED />
</Fallback>
</Sequence>
</BehaviorTree>
<root main_tree_to_execute = "MainTree">
<BehaviorTree ID="MainTree">
<Sequence>
<SetBlackboard output_key="Initial_pose" value="0.017;0.535;0.000" />
<SetBlackboard output_key="Goal_a" value="0.543;0.089;0.000" />
<SetBlackboard output_key="Goal_b" value="-0.898;-1.182;0.0" />
<SetBlackboard output_key="Goal_c" value="-1.364;-0.344;0.00" />
<Fallback>
<Sequence>
<SubTree ID="MoveRobot" target="Initial_pose" />
<SubTree ID="MoveRobot" target="Goal_a" />
<SubTree ID="MoveRobot" target="Goal_b" />
<SubTree ID="MoveRobot" target="Goal_c" />
</Sequence>
<AlarmEventLED />
</Fallback>
</Sequence>
</BehaviorTree>


<BehaviorTree ID="MoveRobot">
<Sequence name="SetGoal">
<MoveBase goal="{target}" />
</Sequence>
</BehaviorTree>

<BehaviorTree ID="MoveRobot">
<Sequence name="SetGoal">
<MoveBase goal="{target}" />
</Sequence>
</BehaviorTree>
</root>
78 changes: 27 additions & 51 deletions BT_sample/cfg/bt_navigation_b1.xml
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Original file line number Diff line number Diff line change
@@ -1,51 +1,27 @@
<root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence>
<!--
<SetBlackboard output_key="Initial_pose" value="-6.615;-7.224;-0.245" />
<SetBlackboard output_key="Goal_a" value="-4.550;0.0;-0.405" />
<SetBlackboard output_key="Goal_b" value="-2.560;-0.627;0.000)" />
<SetBlackboard output_key="Goal_c" value="-1.5;1.8;0.0" />
-->

<SetBlackboard output_key="Initial_pose" value="-7.2;-7.6;0.000" />
<SetBlackboard output_key="Goal_a" value="-4.3;-0.2420;0.000" />
<SetBlackboard output_key="Goal_b" value="-2.56;-0.6.27;0.000" />
<SetBlackboard output_key="Goal_c" value="-4.238;-7.352;0.000" />
<Fallback>
<Repeat num_cycles="10">
<Sequence>
<SubTree ID="MoveRobot" target="Initial_pose" />
<SubTree ID="MoveRobot" target="Goal_a" />
<SubTree ID="MoveRobot" target="Goal_b" />
<SubTree ID="MoveRobot" target="Goal_c" />
<!--<SubTree ID="MoveRobot" target="Initial_pose" /> -->
</Sequence>
</Repeat>
<AlarmEventLED />
</Fallback>
</Sequence>
</BehaviorTree>


<BehaviorTree ID="MoveRobot">
<Sequence name="SetGoal">
<MoveBase goal="{target}" />
</Sequence>
</BehaviorTree>

</root>

<!--
[ INFO] [1573719546.006736679]: Setting goal: Frame:map, Position(-6.696, -7.559, 0.000), Orientation(0.000, 0.000, -0.858, 0.513) = Angle: -2.064
[ INFO] [1573719552.568529037]: Setting goal: Frame:map, Position(-7.198, -7.590, 0.000), Orientation(0.000, 0.000, 0.954, -0.299) = Angle: -2.534
[ INFO] [1573719558.592781918]: Setting goal: Frame:map, Position(-4.366, -0.242, 0.000), Orientation(0.000, 0.000, -0.812, 0.584) = Angle: -1.894
[ INFO] [1573719585.400888252]: Setting goal: Frame:map, Position(-2.560, -0.627, 0.000), Orientation(0.000, 0.000, -0.801, 0.599) = Angle: -1.858
[ INFO] [1573719625.179878448]: Setting goal: Frame:map, Position(-4.238, -7.352, 0.000), Orientation(0.000, 0.000, -0.809, 0.588) = Angle: -1.884
[ INFO] [1573719646.560236975]: Setting goal: Frame:map, Position(-6.818, -7.538, 0.000), Orientation(0.000, 0.000, 0.998, 0.060) = Angle: 3.021
-->
<root main_tree_to_execute = "MainTree">
<BehaviorTree ID="MainTree">
<Sequence>
<SetBlackboard output_key="Initial_pose" value="-7.2;-7.6;0.000" />
<SetBlackboard output_key="Goal_a" value="-4.3;-0.2420;0.000" />
<SetBlackboard output_key="Goal_b" value="-2.56;-0.6.27;0.000" />
<SetBlackboard output_key="Goal_c" value="-4.238;-7.352;0.000" />
<Fallback>
<Repeat num_cycles="10">
<Sequence>
<SubTree ID="MoveRobot" target="Initial_pose" />
<SubTree ID="MoveRobot" target="Goal_a" />
<SubTree ID="MoveRobot" target="Goal_b" />
<SubTree ID="MoveRobot" target="Goal_c" />
</Sequence>
</Repeat>
<AlarmEventLED />
</Fallback>
</Sequence>
</BehaviorTree>

<BehaviorTree ID="MoveRobot">
<Sequence name="SetGoal">
<MoveBase goal="{target}" />
</Sequence>
</BehaviorTree>
</root>

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