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Add behavior tree to navigate to start before starting fields navigation #65

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Jul 5, 2024
Merged

Add behavior tree to navigate to start before starting fields navigation #65

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Add behavior tree to navigate to start before starting fields navigation
Marc-Morcos Jul 4, 2024
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snake case
Marc-Morcos Jul 4, 2024
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Marc-Morcos Jul 4, 2024
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35 changes: 35 additions & 0 deletions opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage_nav_to_start.xml
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<!--
This Behavior Tree computes a complete coverage path over a selected space, navigates to the start point of the path, then follows the coverage path.
Can also take the coverage_path instead of Nav Path for segmented swaths from turns
for changes in operational modes (e.g. raise tool, turn off payload in turns not in field).

Field filepath is set by the Navigator plugin in the action request, but also may be hardcoded
or set using the polygons input port instead for dynamically computed values instead of from file.

It might be wise to still have the planner server on hand to connect to the coverage path in realistic uses.

This BT shows set polygon usage with the coverage server
-->

<root BTCPP_format="4" main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<RateController hz="0.0000001"> <!-- once, for demo -->
<Sequence name="NavigateWithoutReplanning">
<!-- May use:
'polygons="{field_polygon}" polygons_frame_id="{polygon_frame_id}"' if set polygon via NavigateCompleteCoverage
or file_field="{field_filepath}" if setting polygon file via NavigateCompleteCoverage -->

<!-- Compute path to cover fields -->
<ComputeCoveragePath nav_path="{path}" polygons="{field_polygon}" polygons_frame_id="{polygon_frame_id}" error_code_id="{compute_coverage_error_code}"/>

<!-- Go to start of path before navigating -->
<GetPoseFromPath path="{path}" pose="{start_pose}" index="0" />
<ComputePathToPose goal="{start_pose}" path="{path_to_start}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
<FollowPath path="{path_to_start}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>

<!-- Follow computed path -->
<FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
</Sequence>
</RateController>
</BehaviorTree>
</root>
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