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SoniaNodes.xml
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SoniaNodes.xml
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<root BTCPP_format="4">
<TreeNodesModel>
<Action ID="AddPoseToTraj">
<inout_port name="trajectory" type="Trajectory"/>
<input_port name="precision" type="int" default="0"/>
<input_port name="speed" type="int" default="0"/>
<input_port name="frame" type="int" default="1"/>
<input_port name="orientationZ" type="float" default="0.000000"/>
<input_port name="longRotation" type="bool" default="false"/>
<input_port name="positionZ" type="float" default="0.000000"/>
<input_port name="positionY" type="float" default="0.000000"/>
<input_port name="orientationY" type="float" default="0.000000"/>
<input_port name="orientationX" type="float" default="0.000000"/>
<input_port name="positionX" type="float" default="0.000000"/>
</Action>
<Action ID="AiActivation">
<input_port name="activation_target" type="int" default="0">0: OFF, 1: FRONT, 2: BOTTOM, 3: BOTH</input_port>
</Action>
<Condition ID="CheckAiInfo">
<input_port name="max_count" type="int" default="1"/>
<output_port name="ai_info" type="AiDetectionArray"/>
<input_port name="confidence" type="float" default="0.800000"/>
<input_port name="camera" type="int" default="0">0: Front, 1: Bottom</input_port>
<input_port name="min_count" type="int" default="1"/>
<input_port name="classification" type="std::string"/>
</Condition>
<Action ID="ControlSetMode">
<input_port name="set_mode" type="bool" default="false"/>
</Action>
<Action ID="DropperActionNode">
<input_port name="side" type="std::string">port_side or starboard</input_port>
</Action>
<Action ID="EnableDisableDVL">
<input_port name="dvl_input" type="bool" default="true"/>
</Action>
<Action ID="InitTraj">
<output_port name="trajectory" type="Trajectory"/>
</Action>
<Condition ID="MissionSwitchStatus"/>
<Action ID="SendTrajToPlanner">
<input_port name="trajectory" type="Trajectory"/>
<input_port name="interpolation" type="int" default="0"/>
</Action>
<Action ID="TareDepth"/>
<Action ID="WaitTargetReached">
<input_port name="timeout" type="int" default="5"/>
</Action>
</TreeNodesModel>
</root>