nav2_tree_nodes.xml

<?xml version="1.0"?>
<!--
  For instructions on using Groot and description of the following BehaviorTree nodes,
  please refer to the groot_instructions.md and README.md respectively located in the
  nav2_behavior_tree package.
-->
<root BTCPP_format="4">
  <TreeNodesModel>
    <!-- ############################### ACTION NODES ################################# -->
    <Action ID="BackUp">
      <input_port name="backup_dist">Distance to backup</input_port>
      <input_port name="backup_speed">Speed at which to backup</input_port>
      <input_port name="time_allowance">Allowed time for reversing</input_port>
      <input_port name="server_name">Server name</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
      <input_port name="disable_collision_checks" type="bool" default="false">Disable collision checking</input_port>
      <output_port name="error_code_id">"Back up error code"</output_port>
      <output_port name="error_msg">"Back up error message"</output_port>
    </Action>

    <Action ID="DriveOnHeading">
      <input_port name="dist_to_travel">Distance to travel</input_port>
      <input_port name="speed">Speed at which to travel</input_port>
      <input_port name="time_allowance">Allowed time for reversing</input_port>
      <input_port name="server_name">Server name</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
      <input_port name="disable_collision_checks">Disable collision checking</input_port>
      <output_port name="error_code_id">"Drive on heading error code"</output_port>
      <output_port name="error_msg">"Drive on heading error message"</output_port>
    </Action>

    <Action ID="CancelControl">
      <input_port name="server_name">Server name to cancel the controller server</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
    </Action>

    <Action ID="CancelBackUp">
      <input_port name="server_name">Server name to cancel the backup behavior</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
    </Action>

    <Action ID="CancelDriveOnHeading">
      <input_port name="server_name">Service name to cancel the drive on heading behavior</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
    </Action>

    <Action ID="CancelSpin">
      <input_port name="server_name">Server name to cancel the spin behavior</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
    </Action>

    <Action ID="CancelAssistedTeleop">
      <input_port name="server_name">Server name to cancel the assisted teleop behavior</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
    </Action>

    <Action ID="CancelWait">
      <input_port name="server_name">Server name to cancel the wait behavior</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
    </Action>

    <Action ID="ClearEntireCostmap">
      <input_port name="service_name">Service name</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
    </Action>

    <Action ID="ClearCostmapExceptRegion">
      <input_port name="service_name">Service name</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
      <input_port name="reset_distance">Distance from the robot above which obstacles are cleared</input_port>
    </Action>

    <Action ID="ClearCostmapAroundRobot">
      <input_port name="service_name">Service name</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
      <input_port name="reset_distance">Distance from the robot under which obstacles are cleared</input_port>
    </Action>

    <Action ID="ComputePathToPose">
      <input_port name="goal">Destination to plan to</input_port>
      <input_port name="start">Use as the planner start pose instead of the current robot pose, if use_start is not false (i.e. not provided or set to true)</input_port>
      <input_port name="use_start">For using or not using (i.e. ignoring) the provided start pose</input_port>
      <input_port name="planner_id">Mapped name to the planner plugin type to use</input_port>
      <input_port name="server_name">Server name</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
      <output_port name="path">Path created by ComputePathToPose node</output_port>
      <output_port name="error_code_id">"Compute path to pose error code"</output_port>
      <output_port name="error_msg">"Compute path to pose error message"</output_port>
    </Action>

    <Action ID="ComputePathThroughPoses">
      <input_port name="goals">Destinations to plan through</input_port>
      <input_port name="start">Start pose of the path if overriding current robot pose</input_port>
      <input_port name="server_name">Server name</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
      <input_port name="planner_id">Mapped name to the planner plugin type to use</input_port>
      <output_port name="path">Path created by ComputePathToPose node</output_port>
      <output_port name="error_code_id">"Compute path through poses error code"</output_port>
      <output_port name="error_msg">"Compute path through poses error message"</output_port>
    </Action>

    <Action ID="RemovePassedGoals">
      <input_port name="input_goals">Input goals to remove if passed</input_port>
      <input_port name="radius">Radius tolerance on a goal to consider it passed</input_port>
      <input_port name="robot_base_frame">Robot base frame</input_port>
      <input_port name="input_waypoint_statuses">Original waypoint_statuses to mark waypoint status from</input_port>
      <output_port name="output_goals">Set of goals after removing any passed</output_port>
      <output_port name="output_waypoint_statuses">Waypoint_statuses with passed waypoints marked</output_port>
    </Action>

    <Action ID="RemoveInCollisionGoals">
      <input_port name="service_name">Costmap service name responsible for getting the cost</input_port>
      <input_port name="input_goals">A vector of goals to check if in collision</input_port>
      <input_port name="use_footprint">Whether to use the footprint cost or the point cost.</input_port>
      <input_port name="cost_threshold">The cost threshold above which a waypoint is considered in collision and should be removed.</input_port>
      <input_port name="consider_unknown_as_obstacle"> If unknown cost is considered valid </input_port>
      <input_port name="input_waypoint_statuses">Original waypoint_statuses to mark waypoint status from</input_port>
      <output_port name="output_goals">A vector of goals containing only those that are not in collision.</output_port>
      <output_port name="output_waypoint_statuses">Waypoint_statuses with in-collision waypoints marked</output_port>
    </Action>

    <Action ID="SmoothPath">
      <input_port name="smoother_id" default="SmoothPath"/>
      <input_port name="unsmoothed_path">Path to be smoothed</input_port>
      <input_port name="max_smoothing_duration">Maximum smoothing duration</input_port>
      <input_port name="check_for_collisions">Bool if collision check should be performed</input_port>
      <output_port name="smoothed_path">Smoothed path</output_port>
      <output_port name="smoothing_duration">Smoothing duration</output_port>
      <output_port name="was_completed">True if smoothing was not interrupted by time limit</output_port>
      <output_port name="error_code_id">"Smooth Path error code"</output_port>
      <output_port name="error_msg">"Smooth Path error message"</output_port>
    </Action>

    <Action ID="FollowPath">
      <input_port name="controller_id" default="FollowPath"/>
      <input_port name="path">Path to follow</input_port>
      <input_port name="goal_checker_id">Goal checker</input_port>
      <input_port name="progress_checker_id">Progress checker</input_port>
      <input_port name="server_name">Action server name</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
      <output_port name="error_code_id">Follow Path error code</output_port>
      <output_port name="error_msg">Follow Path error message</output_port>
    </Action>

    <Action ID="NavigateToPose">
      <input_port name="goal">Goal</input_port>
      <input_port name="server_name">Server name</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
      <input_port name="behavior_tree">Behavior tree to run</input_port>
      <output_port name="error_code_id">Navigate to pose error code</output_port>
      <output_port name="error_msg">Navigate to pose error message</output_port>
    </Action>

    <Action ID="NavigateThroughPoses">
      <input_port name="goals">Goals</input_port>
      <input_port name="server_name">Server name</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
      <input_port name="behavior_tree">Behavior tree to run</input_port>
      <output_port name="error_code_id">Navigate through poses error code</output_port>
      <output_port name="error_msg">Navigate through poses error message</output_port>
    </Action>

    <Action ID="ReinitializeGlobalLocalization">
      <input_port name="service_name">Service name</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
    </Action>

    <Action ID="TruncatePath">
      <input_port name="distance">Distance before goal to truncate</input_port>
      <input_port name="input_path">Path to truncate</input_port>
      <output_port name="output_path">Truncated path to utilize</output_port>
    </Action>

    <Action ID="TruncatePathLocal">
      <input_port name="input_path">Path to truncate</input_port>
      <input_port name="distance_forward">Distance in forward direction</input_port>
      <input_port name="distance_backward">Distance in backward direction</input_port>
      <input_port name="robot_frame">Robot base frame id</input_port>
      <input_port name="transform_tolerance">Transform lookup tolerance</input_port>
      <input_port name="pose">Manually specified pose to be used if overriding current robot pose</input_port>
      <input_port name="angular_distance_weight">Weight of angular distance relative to positional distance when finding which path pose is closest to robot. Not applicable on paths without orientations assigned</input_port>
      <input_port name="max_robot_pose_search_dist">Maximum forward integrated distance along the path (starting from the last detected pose) to bound the search for the closest pose to the robot. When set to infinity (default), whole path is searched every time</input_port>
      <output_port name="output_path">Truncated path to utilize</output_port>
    </Action>

    <Action ID="PlannerSelector">
      <input_port name="topic_name">Name of the topic to receive planner selection commands</input_port>
      <input_port name="default_planner">Default planner of the planner selector</input_port>
      <output_port name="selected_planner">Name of the selected planner received from the topic subscription</output_port>
    </Action>

    <Action ID="ControllerSelector">
      <input_port name="topic_name">Name of the topic to receive controller selection commands</input_port>
      <input_port name="default_controller">Default controller of the controller selector</input_port>
      <output_port name="selected_controller">Name of the selected controller received from the topic subscription</output_port>
    </Action>

    <Action ID="SmootherSelector">
      <input_port name="topic_name">Name of the topic to receive smoother selection commands</input_port>
      <input_port name="default_smoother">Default smoother of the smoother selector</input_port>
      <output_port name="selected_smoother">Name of the selected smoother received from the topic subscription</output_port>
    </Action>

    <Action ID="GoalCheckerSelector">
      <input_port name="topic_name">Name of the topic to receive goal checker selection commands</input_port>
      <input_port name="default_goal_checker">Default goal checker of the controller selector</input_port>
      <output_port name="selected_goal_checker">Name of the selected goal checker received from the topic subscription</output_port>
    </Action>

    <Action ID="ProgressCheckerSelector">
      <input_port name="topic_name">Name of the topic to receive progress checker selection commands</input_port>
      <input_port name="default_progress_checker">Default progress checker of the controller selector</input_port>
      <output_port name="selected_progress_checker">Name of the selected progress checker received from the topic subscription</output_port>
    </Action>

    <Action ID="Spin">
      <input_port name="spin_dist">Spin distance</input_port>
      <input_port name="time_allowance">Allowed time for spinning</input_port>
      <input_port name="server_name">Server name</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
      <input_port name="is_recovery">If true recovery count will be incremented</input_port>
      <input_port name="disable_collision_checks">Disable collision checking</input_port>
      <output_port name="error_code_id">Spin error code</output_port>
      <output_port name="error_msg">Spin error message</output_port>
    </Action>

    <Action ID="Wait">
      <input_port name="wait_duration">Wait time</input_port>
      <input_port name="server_name">Server name</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
      <output_port name="error_code_id">Wait error code</output_port>
      <output_port name="error_msg">Wait error message</output_port>
    </Action>

    <Action ID="AssistedTeleop">
      <input_port name="time_allowance">Allowed time for spinning</input_port>
      <input_port name="is_recovery">If true recovery count will be incremented</input_port>
      <input_port name="server_name">Service name</input_port>
      <input_port name="server_timeout">Server timeout</input_port>
      <output_port name="error_code_id">Assisted teleop error code</output_port>
    </Action>

    <Action ID="DockRobot">
      <input_port name="dock_id">Dock ID or name to use</input_port>
      <input_port name="dock_pose">The dock pose, if not using dock id</input_port>
      <input_port name="dock_type">The dock plugin type, if using dock pose</input_port>
      <input_port name="max_staging_time">Maximum time to navigate to the staging pose</input_port>
      <input_port name="navigate_to_staging_pose">Whether to autonomously navigate to staging pose</input_port>
      <input_port name="use_dock_id">Whether to use the dock's ID or dock pose fields</input_port>
      <output_port name="error_code_id">Dock error code</output_port>
      <output_port name="error_msg">Dock error message</output_port>
      <output_port name="num_retries">The number of retries executed</output_port>
      <output_port name="success">If the action was successful</output_port>
    </Action>

    <Action ID="UndockRobot">
      <input_port name="dock_type">The dock plugin type, if not previous instance used for docking</input_port>
      <input_port name="max_undocking_time">Maximum time to get back to the staging pose</input_port>
      <output_port name="error_code_id">Undock error code</output_port>
      <output_port name="error_msg">Undock error message</output_port>
      <output_port name="success">If the action was successful</output_port>
    </Action>

    <Action ID="GetPoseFromPath">
      <input_port name="path">Path to extract pose from</input_port>
      <input_port name="index">Index of pose to extract from. -1 is end of list</input_port>
      <output_port name="pose">Stamped extracted pose</output_port>
    </Action>

    <!-- ############################### CONDITION NODES ############################## -->
    <Condition ID="GoalReached">
      <input_port name="goal">Destination</input_port>
      <input_port name="robot_base_frame">Robot base frame</input_port>
    </Condition>

    <Condition ID="IsStuck"/>

    <Condition ID="IsStopped">
      <input_port name="velocity_threshold">Velocity threshold below which robot is considered stopped</input_port>
      <input_port name="duration_stopped">Duration (ms) the velocity must remain below the threshold</input_port>
    </Condition>

    <Condition ID="TransformAvailable">
      <input_port name="child">Child frame for transform</input_port>
      <input_port name="parent">Parent frame for transform</input_port>
    </Condition>

    <Condition ID="GoalUpdated">
      <input_port name="goal">Vector of navigation goals</input_port>
      <input_port name="goals">Navigation goal</input_port>
    </Condition>

    <Condition ID="GlobalUpdatedGoal">
      <input_port name="goal">Vector of navigation goals</input_port>
      <input_port name="goals">Navigation goal</input_port>
    </Condition>

    <Condition ID="IsBatteryLow">
      <input_port name="min_battery">Min battery % or voltage before triggering</input_port>
      <input_port name="battery_topic">Topic for battery info</input_port>
      <input_port name="is_voltage">Bool if check based on voltage or total %</input_port>
    </Condition>

    <Condition ID="IsBatteryCharging">
      <input_port name="battery_topic">Topic for battery info</input_port>
    </Condition>

    <Condition ID="DistanceTraveled">
      <input_port name="distance">Distance to check if passed</input_port>
      <input_port name="global_frame">reference frame to check in</input_port>
      <input_port name="robot_base_frame">Robot frame to check relative to global_frame</input_port>
    </Condition>

    <Condition ID="TimeExpired">
      <input_port name="seconds">Time to check if expired</input_port>
    </Condition>


    <Condition ID="PathExpiringTimer">
      <input_port name="seconds">Time to check if expired</input_port>
      <input_port name="path">Check if path has been updated to enable timer reset</input_port>
    </Condition>

    <Condition ID="InitialPoseReceived">
      <input_port name="initial_pose_received">SUCCESS if initial_pose_received true</input_port>
    </Condition>

    <Condition ID="IsPathValid">
      <input_port name="path"> Path to validate </input_port>
      <input_port name="server_timeout"> Server timeout </input_port>
      <input_port name="max_cost"> Maximum cost of the path </input_port>
      <input_port name="consider_unknown_as_obstacle"> If unknown cost is considered valid </input_port>
    </Condition>

    <Condition ID="WouldAControllerRecoveryHelp">
      <input_port name="error_code">Error code</input_port>
    </Condition>

    <Condition ID="WouldAPlannerRecoveryHelp">
      <input_port name="error_code">Error code</input_port>
    </Condition>

    <Condition ID="WouldASmootherRecoveryHelp">
      <input_port name="error_code">Error code</input_port>
    </Condition>

    <Condition ID="AreErrorCodesPresent">
      <input_port name="error_code">Error code</input_port>
      <input_port name="error_codes_to_check">Error codes to check, user defined</input_port>
    </Condition>


    <!-- ############################### CONTROL NODES ################################ -->
    <Control ID="PipelineSequence"/>

    <Control ID="RecoveryNode">
      <input_port name="number_of_retries">Number of retries</input_port>
    </Control>

    <Control ID="RoundRobin"/>

    <!-- ############################### DECORATOR NODES ############################## -->
    <Decorator ID="RateController">
      <input_port name="hz">Rate</input_port>
    </Decorator>

    <Decorator ID="DistanceController">
      <input_port name="distance">Distance</input_port>
      <input_port name="global_frame">Reference frame</input_port>
      <input_port name="robot_base_frame">Robot base frame</input_port>
    </Decorator>

    <Decorator ID="SingleTrigger">
    </Decorator>

    <Decorator ID="GoalUpdater">
      <input_port name="input_goal">Original goal in</input_port>
      <input_port name="input_goals">Original goals in</input_port>
      <output_port name="output_goal">Output goal set by subscription</output_port>
      <output_port name="output_goals">Output goals set by subscription</output_port>
    </Decorator>

    <Decorator ID="SpeedController">
      <input_port name="min_rate">Minimum rate</input_port>
      <input_port name="max_rate">Maximum rate</input_port>
      <input_port name="min_speed">Minimum speed</input_port>
      <input_port name="max_speed">Maximum speed</input_port>
      <input_port name="goal">Vector of navigation goals</input_port>
      <input_port name="goals">Navigation goal</input_port>
    </Decorator>

    <Decorator ID="PathLongerOnApproach">
      <input_port name="path">Planned Path</input_port>
      <input_port name="prox_len">Proximity length (m) for the path to be longer on approach</input_port>
      <input_port name="length_factor">Length multiplication factor to check if the path is significantly longer </input_port>
    </Decorator>

    <Decorator ID="GoalUpdatedController">
      <input_port name="goal">Vector of navigation goals</input_port>
      <input_port name="goals">Navigation goal</input_port>
    </Decorator>

  </TreeNodesModel>
</root>