21 lines
828 B
XML
21 lines
828 B
XML
<!--
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his Behavior Tree drives in a square for odometry calibration experiments
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-->
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<root main_tree_to_execute="MainTree">
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<BehaviorTree ID="MainTree">
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<Repeat num_cycles="3">
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<Sequence name="Drive in a square">
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<DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
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<Spin spin_dist="1.570796" is_recovery="false"/>
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<DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
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<Spin spin_dist="1.570796" is_recovery="false"/>
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<DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
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<Spin spin_dist="1.570796" is_recovery="false"/>
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<DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
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<Spin spin_dist="1.570796" is_recovery="false"/>
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</Sequence>
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</Repeat>
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</BehaviorTree>
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</root>
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