22 lines
763 B
XML
22 lines
763 B
XML
<!--
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This Behavior Tree follows a dynamic pose to a certain distance
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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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<PipelineSequence name="NavigateWithReplanning">
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<RateController hz="1.0">
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<Sequence>
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<GoalUpdater input_goal="{goal}" output_goal="{updated_goal}">
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<ComputePathToPose goal="{updated_goal}" path="{path}" planner_id="GridBased"/>
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</GoalUpdater>
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<TruncatePath distance="1.0" input_path="{path}" output_path="{truncated_path}"/>
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</Sequence>
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</RateController>
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<KeepRunningUntilFailure>
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<FollowPath path="{truncated_path}" controller_id="FollowPath"/>
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</KeepRunningUntilFailure>
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</PipelineSequence>
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</BehaviorTree>
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</root>
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