Working BT based robotic navigation

Signed-off-by: Marco Lampacrescia <[email protected]>
convince-project · Sep 10, 2024 · de7cb6c · de7cb6c
1 parent fda1718
commit de7cb6c
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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/robot_platform.scxml b/jani_generator/test/_test_data/robot_navigation_with_bt/robot_platform.scxml
@@ -27,7 +27,7 @@
     <ros_topic_publisher name="pose" topic="/robot_pose" type="geometry_msgs/Pose2D" />
     <ros_topic_subscriber name="cmd_vel" topic="/cmd_vel" type="geometry_msgs/Twist" />
     <ros_topic_publisher name="goal" topic="/goal_position" type="geometry_msgs/Point" />
-    <ros_time_rate name="sample_timer" rate_hz="0.5" />
+    <ros_time_rate name="sample_timer" rate_hz="2" />
 
     <state id="publish_info">
         <onentry>