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MobKBK
2026-06-19 16:52:06 +08:00
commit 6c46be8df8
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src/cyy_navigation2/bt/odometry_calibration.xml Normal file
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<!--
his Behavior Tree drives in a square for odometry calibration experiments
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<Repeat num_cycles="3">
<Sequence name="Drive in a square">
<DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
<Spin spin_dist="1.570796" is_recovery="false"/>
<DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
<Spin spin_dist="1.570796" is_recovery="false"/>
<DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
<Spin spin_dist="1.570796" is_recovery="false"/>
<DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
<Spin spin_dist="1.570796" is_recovery="false"/>
</Sequence>
</Repeat>
</BehaviorTree>
</root>