<!--
  This Behavior Tree replans the global path periodically at 1 Hz.
-->

<root main_tree_to_execute="MainTree">
  <BehaviorTree ID="MainTree">
    <PipelineSequence name="NavigateWithReplanning">
      <RateController hz="1.0">
        <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
      </RateController>
      <FollowPath path="{path}"  controller_id="FollowPath"/>
    </PipelineSequence>
  </BehaviorTree>
</root>
