Add error_code_id and error_msg ports to example behavior_tree xml (r…

…os-navigation#4341) Signed-off-by: Mike Wake <[email protected]>
aosmw · Feb 11, 2025 · 75c3cb3 · 75c3cb3
1 parent 7d853be
commit 75c3cb3
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Showing 6 changed files with 21 additions and 21 deletions.
diff --git a/...tor/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml b/...tor/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml
@@ -38,9 +38,9 @@
             <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
             <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
           </Sequence>
-          <Spin spin_dist="1.57"/>
-          <Wait wait_duration="5.0"/>
-          <BackUp backup_dist="0.30" backup_speed="0.15"/>
+          <Spin name="SpinRecovery" spin_dist="1.57" error_code_id="{spin_error_code}" error_msg="{spin_error_msg}"/>
+          <Wait name="WaitRecovery" wait_duration="5.0" error_code_id="{wait_error_code}" error_msg="{wait_error_msg}"/>
+          <BackUp name="BackUpRecovery" backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_error_code}" error_msg="{backup_error_msg}"/>
         </RoundRobin>
       </ReactiveFallback>
     </RecoveryNode>

diff --git a/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
@@ -43,9 +43,9 @@
               <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
               <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
             </Sequence>
-            <Spin spin_dist="1.57" error_code_id="{spin_error_code}" error_msg="{spin_error_msg}"/>
-            <Wait wait_duration="5.0"/>
-            <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_error_code}" error_msg="{backup_error_msg}"/>
+            <Spin name="SpinRecovery" spin_dist="1.57" error_code_id="{spin_error_code}" error_msg="{spin_error_msg}"/>
+            <Wait name="WaitRecovery" wait_duration="5.0" error_code_id="{wait_error_code}" error_msg="{wait_error_msg}"/>
+            <BackUp name="BackUpRecovery" backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_error_code}" error_msg="{backup_error_msg}"/>
           </RoundRobin>
         </ReactiveFallback>
       </Sequence>

diff --git a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
@@ -40,7 +40,7 @@
               <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
             </Sequence>
             <Spin spin_dist="1.57" error_code_id="{spin_error_code}" error_msg="{spin_error_msg}"/>
-            <Wait wait_duration="5.0"/>
+            <Wait wait_duration="5.0" error_code_id="{wait_error_code}" error_msg="{wait_error_msg}"/>
             <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_error_code}" error_msg="{backup_error_msg}"/>
           </RoundRobin>
         </ReactiveFallback>

diff --git a/..._bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml b/..._bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
@@ -39,9 +39,9 @@
             <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
             <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
           </Sequence>
-          <Spin spin_dist="1.57"/>
-          <Wait wait_duration="5.0"/>
-          <BackUp backup_dist="0.30" backup_speed="0.15"/>
+          <Spin name="SpinRecovery" spin_dist="1.57" error_code_id="{spin_error_code}" error_msg="{spin_error_msg}"/>
+          <Wait name="WaitRecovery" wait_duration="5.0" error_code_id="{wait_error_code}" error_msg="{wait_error_msg}"/>
+          <BackUp name="BackUpRecovery" backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_error_code}" error_msg="{backup_error_msg}"/>
         </RoundRobin>
       </ReactiveFallback>
     </RecoveryNode>

diff --git a/...igator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml b/...igator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml
@@ -36,9 +36,9 @@
             <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
             <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
           </Sequence>
-          <Spin name="SpinRecovery" spin_dist="1.57"/>
-          <Wait name="WaitRecovery" wait_duration="5.0"/>
-          <BackUp name="BackUpRecovery" backup_dist="0.30" backup_speed="0.15"/>
+          <Spin name="SpinRecovery" spin_dist="1.57" error_code_id="{spin_error_code}" error_msg="{spin_error_msg}"/>
+          <Wait name="WaitRecovery" wait_duration="5.0" error_code_id="{wait_error_code}" error_msg="{wait_error_msg}"/>
+          <BackUp name="BackUpRecovery" backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_error_code}" error_msg="{backup_error_msg}"/>
         </RoundRobin>
       </ReactiveFallback>
     </RecoveryNode>

diff --git a/nav2_bt_navigator/behavior_trees/odometry_calibration.xml b/nav2_bt_navigator/behavior_trees/odometry_calibration.xml
@@ -6,14 +6,14 @@
   <BehaviorTree ID="MainTree">
     <Repeat num_cycles="3">
       <Sequence name="Drive in a square">
-        <DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
-        <Spin spin_dist="1.570796" is_recovery="false"/>
-        <DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
-        <Spin spin_dist="1.570796" is_recovery="false"/>
-        <DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
-        <Spin spin_dist="1.570796" is_recovery="false"/>
-        <DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
-        <Spin spin_dist="1.570796" is_recovery="false"/>
+        <DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12" error_code_id="{drive_on_heading_error_code}" error_msg="{drive_on_heading_error_msg}"/>
+        <Spin spin_dist="1.570796" is_recovery="false" error_code_id="{spin_error_code}" error_msg="{spin_error_msg}"/>
+        <DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12" error_code_id="{drive_on_heading_error_code}" error_msg="{drive_on_heading_error_msg}"/>
+        <Spin spin_dist="1.570796" is_recovery="false" error_code_id="{spin_error_code}" error_msg="{spin_error_msg}"/>
+        <DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12" error_code_id="{drive_on_heading_error_code}" error_msg="{drive_on_heading_error_msg}"/>
+        <Spin spin_dist="1.570796" is_recovery="false" error_code_id="{spin_error_code}" error_msg="{spin_error_msg}"/>
+        <DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12" error_code_id="{drive_on_heading_error_code}" error_msg="{drive_on_heading_error_msg}"/>
+        <Spin spin_dist="1.570796" is_recovery="false" error_code_id="{spin_error_code}" error_msg="{spin_error_msg}"/>
       </Sequence>
     </Repeat>
   </BehaviorTree>