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Buoy.xml
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Buoy.xml
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<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
<BehaviorTree ID="BuoyCircle">
<Sequence>
<InitTraj trajectory="{traj}"/>
<AddPoseToTraj trajectory="{traj}"
precision="0"
speed="0"
frame="1"
orientationZ="15"
longRotation="false"
positionZ="0.000000"
positionY="0"
orientationY="0.000000"
orientationX="0.000000"
positionX="0.000000"/>
<Repeat num_cycles="12">
<AddPoseToTraj trajectory="{traj}"
precision="0"
speed="0"
frame="1"
orientationZ="30"
longRotation="false"
positionZ="0.000000"
positionY="-1"
orientationY="0.000000"
orientationX="0.000000"
positionX="0.000000"/>
</Repeat>
<AddPoseToTraj trajectory="{traj}"
precision="0"
speed="0"
frame="1"
orientationZ="-15"
longRotation="false"
positionZ="0.000000"
positionY="0"
orientationY="0.000000"
orientationX="0.000000"
positionX="0.000000"/>
<SendTrajToPlanner trajectory="{traj}"
interpolation="0"/>
<WaitTargetReached timeout="5"/>
</Sequence>
</BehaviorTree>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Action ID="AddPoseToTraj">
<inout_port name="trajectory"
type="Trajectory"/>
<input_port name="precision"
default="0"
type="int"/>
<input_port name="speed"
default="0"
type="int"/>
<input_port name="frame"
default="1"
type="int"/>
<input_port name="orientationZ"
default="0.000000"
type="float"/>
<input_port name="longRotation"
default="false"
type="bool"/>
<input_port name="positionZ"
default="0.000000"
type="float"/>
<input_port name="positionY"
default="0.000000"
type="float"/>
<input_port name="orientationY"
default="0.000000"
type="float"/>
<input_port name="orientationX"
default="0.000000"
type="float"/>
<input_port name="positionX"
default="0.000000"
type="float"/>
</Action>
<Action ID="InitTraj">
<output_port name="trajectory"
type="Trajectory"/>
</Action>
<Action ID="SendTrajToPlanner">
<input_port name="trajectory"
type="Trajectory"/>
<input_port name="interpolation"
default="0"
type="int"/>
</Action>
<Action ID="WaitTargetReached">
<input_port name="timeout"
default="5"
type="int"/>
</Action>
</TreeNodesModel>
</root>