Working BT based robotic navigation

Signed-off-by: Marco Lampacrescia <[email protected]>
convince-project · Sep 10, 2024 · bdd0402 · bdd0402
1 parent fda1718
commit bdd0402
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/jani_generator/test/_test_data/robot_navigation_with_bt/bt_goal_check.scxml b/jani_generator/test/_test_data/robot_navigation_with_bt/bt_goal_check.scxml
@@ -34,7 +34,7 @@
 
     <state id="ready_to_check">
         <transition event="bt_tick" target="ready_to_check">
-            <if cond="goal_x > goal_y">
+            <if cond="goal_x > abs(goal_y)">
                 <send event="bt_success" />
             <else />
                 <send event="bt_failure" />

diff --git a/jani_generator/test/_test_data/robot_navigation_with_bt/main.xml b/jani_generator/test/_test_data/robot_navigation_with_bt/main.xml
@@ -1,6 +1,6 @@
 <convince_mc_tc>
     <mc_parameters>
-        <max_time value="100" unit="s" />
+        <max_time value="200" unit="s" />
     </mc_parameters>
 
     <behavior_tree>