Add simple BT.CPP solutions to Problems 2 and 3

technologies/BehaviorTree.CPP/README.md

@@ -34,7 +34,7 @@ For instance, consider this sample XML in [trees/navigation_demo.xml](pyrobosim_
 
 NOTE: remember that the `name` attribute in the XML is optional and used for debugging only.
 
-You can run the BeahviorTree with the command:
+You can run the BehaviorTree with the command:
 
 ```bash
 ros2 run pyrobosim_btcpp btcpp_executor --ros-args -p tree:=trees/navigation_demo.xml

technologies/BehaviorTree.CPP/pyrobosim_btcpp/trees/problem2.xml

@@ -2,16 +2,34 @@
 
   <BehaviorTree ID="MainTree">
     <Sequence>
-        <Fallback>
-            <Navigate name="ToTrash" target="dumpster"/>
-            <Sequence>
-                <Navigate name="ToTrash" target="hall_dining_trash"/>
-                <Open target="hall_dining_trash"/>
-                <Navigate name="ToTrash" target="dumpster"/>
-            </Sequence>
-        </Fallback>
-        <Open target="dumpster"/>
-        <Navigate name="ToTable" target="table"/>
+      <Sequence>
+          <Fallback>
+              <Navigate name="ToTrash" target="dumpster"/>
+              <Sequence>
+                  <Navigate name="ToTrashRoomDoor" target="hall_dining_trash"/>
+                  <Open target="hall_dining_trash"/>
+                  <Navigate name="ToTrash" target="dumpster"/>
+              </Sequence>
+          </Fallback>
+          <Open target="dumpster"/>
+      </Sequence>
+      <Sequence>
+        <Navigate name="ToDesk" target="desk"/>
+        <PickObject name="PickDeskWaste" object="waste0"/>
+        <Navigate name="ToTrash" target="dumpster"/>
+        <PlaceObject name="PlaceDeskWaste" object="waste0"/>
+      </Sequence>
+      <Sequence>
+        <Navigate name="ToBin" target="bin"/>
+        <PickObject name="PickBinWaste" object="waste1"/>
+        <Navigate name="ToTrash" target="dumpster"/>
+        <PlaceObject name="PlaceBinWaste" object="waste1"/>
+      </Sequence>
+      <Sequence>
+        <Navigate name="ToDining" target="dining"/>
+        <Navigate name="ToTrashRoomDoor" target="hall_dining_trash"/>
+        <Close target="hall_dining_trash"/>
+      </Sequence>
     </Sequence>
   </BehaviorTree>
 

technologies/BehaviorTree.CPP/pyrobosim_btcpp/trees/problem3.xml

@@ -0,0 +1,48 @@
+<root BTCPP_format="4">
+
+  <BehaviorTree ID="MainTree">
+    <Sequence>
+      <RetryUntilSuccessful num_attempts="5">
+        <Sequence>
+          <Navigate name="ToPantry" target="pantry"/>
+          <Open name="OpenPantry" target="pantry"/>
+          <PickObject name="PickBread" object="bread0"/>
+        </Sequence>
+      </RetryUntilSuccessful>
+      <RetryUntilSuccessful num_attempts="5">
+        <Sequence>
+          <Navigate name="ToTable" target="table"/>
+          <PlaceObject name="PlaceBread" object="bread0"/>
+        </Sequence>
+      </RetryUntilSuccessful>
+      <RetryUntilSuccessful num_attempts="5">
+        <Sequence>
+          <Navigate name="ToPantry" target="pantry"/>
+          <Close name="ClosePantry" target="pantry"/>
+        </Sequence>
+      </RetryUntilSuccessful>
+
+      <RetryUntilSuccessful num_attempts="5">
+        <Sequence>
+          <Navigate name="ToFridge" target="fridge"/>
+          <Open name="OpenFridge" target="fridge"/>
+          <PickObject name="PickButter" object="butter0"/>
+        </Sequence>
+      </RetryUntilSuccessful>
+      <RetryUntilSuccessful num_attempts="5">
+        <Sequence>
+          <Navigate name="ToTable" target="table"/>
+          <PlaceObject name="PlaceButter" object="butter0"/>
+        </Sequence>
+      </RetryUntilSuccessful>
+      <RetryUntilSuccessful num_attempts="5">
+        <Sequence>
+          <Navigate name="ToFridge" target="fridge"/>
+          <Close name="CloseFridge" target="fridge"/>
+        </Sequence>
+      </RetryUntilSuccessful>
+
+    </Sequence>
+  </BehaviorTree>
+
+</root>