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clear names for bt nodes #3183

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Merged
merged 2 commits into from
Sep 12, 2022
Merged

clear names for bt nodes #3183

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7d7a542
clear names for bt nodes
jwallace42 Sep 9, 2022
feb3ce5
Merge branch 'main' into bt_node_names
jwallace42 Sep 12, 2022
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20 changes: 10 additions & 10 deletions ...igator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,11 +7,11 @@
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<RecoveryNode number_of_retries="6" name="NavigateRecovery">
<PipelineSequence name="NavigateWithReplanning">
<RateController hz="1.0">
<RecoveryNode number_of_retries="1" name="ComputePathToPose">
<Fallback>
<ReactiveSequence>
<PipelineSequence>
<RateController hz="1.0" name="RateControllerComputePathToPose">
<RecoveryNode number_of_retries="1" name="RecoveryComputePathToPose">
<Fallback name="FallbackComputePathToPose">
<ReactiveSequence name="CheckIfNewPathNeeded">
<Inverter>
<GlobalUpdatedGoal/>
</Inverter>
Expand All @@ -22,21 +22,21 @@
<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
</RecoveryNode>
</RateController>
<RecoveryNode number_of_retries="1" name="FollowPath">
<RecoveryNode number_of_retries="1" name="RecoveryFollowPath">
<FollowPath path="{path}" controller_id="FollowPath"/>
<ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
</RecoveryNode>
</PipelineSequence>
<ReactiveFallback name="RecoveryFallback">
<ReactiveFallback name="FallbackRecoveries">
<GoalUpdated/>
<RoundRobin name="RecoveryActions">
<Sequence name="ClearingActions">
<ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
</Sequence>
<Spin spin_dist="1.57"/>
<Wait wait_duration="5"/>
<BackUp backup_dist="0.30" backup_speed="0.05"/>
<Spin name="SpinRecovery" spin_dist="1.57"/>
<Wait name="WaitRecovery" wait_duration="5"/>
<BackUp name="BackUpRecovery" backup_dist="0.30" backup_speed="0.05"/>
</RoundRobin>
</ReactiveFallback>
</RecoveryNode>
Expand Down