Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Row operation #2

Merged
merged 3 commits into from
Feb 11, 2024
Merged

Row operation #2

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
e821ef9
adding row operation mission profile
GPrathap Feb 9, 2024
2c0307e
Adding workaround for https://github.com/ros2/rclpy/issues/878
GPrathap Feb 10, 2024
d029a5a
Adding workaround for https://github.com/ros2/rclpy/issues/878
GPrathap Feb 11, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
39 changes: 5 additions & 34 deletions topological_navigation/config/bt_tree_in_row_operation.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,39 +1,10 @@
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<RecoveryNode number_of_retries="0" name="NavigateRecovery">
<PipelineSequence name="NavigateWithReplanning">
<RateController hz="0.333">
<RecoveryNode number_of_retries="0" name="ComputePathThroughPoses">
<ReactiveSequence>
<RemovePassedGoals input_goals="{goals}" output_goals="{goals}" radius="1.5"/>
<ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="GoalAligned"/>
</ReactiveSequence>
<ReactiveFallback name="ComputePathThroughPosesRecoveryFallback">
<GoalUpdated/>
<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
</ReactiveFallback>
</RecoveryNode>
</RateController>
<RecoveryNode number_of_retries="0" name="FollowPath">
<FollowPath path="{path}" controller_id="FollowPath"/>
<ReactiveFallback name="FollowPathRecoveryFallback">
<GoalUpdated/>
<ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
</ReactiveFallback>
</RecoveryNode>
</PipelineSequence>
<ReactiveFallback name="RecoveryFallback">
<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="0.15" backup_speed="0.025"/>
</RoundRobin>
</ReactiveFallback>
<RecoveryNode number_of_retries="0" name="Harvesting">
<Wait wait_duration="5"/>
<ReactiveFallback name="ComputePathToPoseRecoveryFallback">
<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
</ReactiveFallback>
</RecoveryNode>
</BehaviorTree>
</root>
Loading
Loading