forked from zbw/yiliao2026
37 lines
1.8 KiB
XML
37 lines
1.8 KiB
XML
<!--
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阿克曼底盘自定义行为树：移除了 Spin（原地旋转），
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恢复行为改为：清除代价地图 → 后退 → 等待
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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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<RecoveryNode number_of_retries="6" name="NavigateRecovery">
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<PipelineSequence name="NavigateWithReplanning">
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<RateController hz="1.0">
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<RecoveryNode number_of_retries="1" name="ComputePathToPose">
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<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
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<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
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</RecoveryNode>
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</RateController>
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<RecoveryNode number_of_retries="1" name="FollowPath">
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<FollowPath path="{path}" controller_id="FollowPath"/>
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<ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
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</RecoveryNode>
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</PipelineSequence>
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<ReactiveFallback name="RecoveryFallback">
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<GoalUpdated/>
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<RoundRobin name="RecoveryActions">
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<!-- 1. 清除代价地图，去掉短暂障碍 -->
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<Sequence name="ClearingActions">
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<ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
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<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
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</Sequence>
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<!-- 2. 快速后退 0.8m，给重新规划留空间（阿克曼无法原地旋转） -->
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<BackUp backup_dist="0.80" backup_speed="0.18"/>
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<!-- 3. 短暂等待 0.3s，让新路径规划完成 -->
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<Wait wait_duration="0.3"/>
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</RoundRobin>
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</ReactiveFallback>
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</RecoveryNode>
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</BehaviorTree>
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</root>
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