logistic_tree.xml

<root main_tree_to_execute="BehaviorTree">
    <!--------------------------------------->
    <BehaviorTree ID="BehaviorTree">
        <Root>
            <SequenceStar name="MoveBox">
                <Action ID="WaitForJob"/>
                <Action ID="MoveTo" GoalID="${source}"/>
                <SubTree ID="LoadBox"/>
                <Action ID="MoveTo" GoalID="${destination}"/>
                <SubTree ID="UnloadBox"/>
            </SequenceStar>
        </Root>
    </BehaviorTree>
    <!--------------------------------------->
    <BehaviorTree ID="LoadBox">
        <Root>
            <SequenceStar name="DockAndLoad">
                <Action ID="DockToStation_Laser"/>
                <Action ID="DockToStation_IR"/>
                <Action ID="LoadBoxFromStation"/>
                <Action ID="UndockFromStation"/>
            </SequenceStar>
        </Root>
    </BehaviorTree>
    <!--------------------------------------->
    <BehaviorTree ID="UnloadBox">
        <Root>
            <SequenceStar name="DockAndUnload">
                <Action ID="DockToStation_Laser"/>
                <Action ID="DockToStation_IR"/>
                <Action ID="UnloadBoxToStation"/>
                <Action ID="UndockFromStation"/>
            </SequenceStar>
        </Root>
    </BehaviorTree>
    <!--------------------------------------->
    <TreeNodesModel>
        <Action ID="DockToCharger"/>
        <Action ID="DockToStation_IR"/>
        <Action ID="DockToStation_Laser"/>
        <SubTree ID="LoadBox"/>
        <Action ID="LoadBoxFromStation"/>
        <Action ID="ManualLoadFromHuman"/>
        <Action ID="ManualUnloadToHuman"/>
        <Action ID="MoveTo">
            <Parameter label="GoalID" default="ID"/>
        </Action>
        <Action ID="UndockFromCharger"/>
        <Action ID="UndockFromStation"/>
        <SubTree ID="UnloadBox"/>
        <Action ID="UnloadBoxToStation"/>
        <Action ID="UnloadFromStation"/>
        <Action ID="WaitForJob"/>
    </TreeNodesModel>
    <!--------------------------------------->
</root>