WIP problem 4

ros-wg-delib · Oct 17, 2024 · 6809fcc · 6809fcc
1 parent ca4153d
commit 6809fcc
Showing 1 changed file with 28 additions and 0 deletions.
diff --git a/technologies/BehaviorTree.CPP/pyrobosim_btcpp/trees/problem4.xml b/technologies/BehaviorTree.CPP/pyrobosim_btcpp/trees/problem4.xml
@@ -0,0 +1,28 @@
+<root BTCPP_format="4">
+
+  <!-- WORK IN PROGRESS -->
+  <!-- NOTE: This segfaults the BT executor when the battery crosses the threshold. -->
+  <BehaviorTree ID="MainTree">
+    <ReactiveSequence>
+      <Fallback>
+        <Inverter>
+          <IsBatteryLow low_threshold="90"/>
+        </Inverter>
+        <Navigate name="ToCharger" target="charger"/>
+      </Fallback>
+      <RetryUntilSuccessful num_attempts="10">
+        <Sequence>
+          <Navigate name="ToDesk" target="desk"/>
+          <Navigate name="ToFridge" target="fridge"/>
+          <Navigate name="ToDesk" target="desk"/>
+          <Navigate name="ToFridge" target="fridge"/>
+          <Navigate name="ToDesk" target="desk"/>
+          <Navigate name="ToFridge" target="fridge"/>
+          <Navigate name="ToDesk" target="desk"/>
+          <Navigate name="ToFridge" target="fridge"/>
+        </Sequence>
+      </RetryUntilSuccessful>
+    </ReactiveSequence>
+  </BehaviorTree>
+
+</root>