15 lines
448 B
XML
15 lines
448 B
XML
<!--
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This Behavior Tree replans the global path periodically at 1 Hz.
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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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<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
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</RateController>
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<FollowPath path="{path}" controller_id="FollowPath"/>
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</PipelineSequence>
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</BehaviorTree>
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</root>
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