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feat: add behavior tree file with external lane change request (autow…
…arefoundation#756) Signed-off-by: tomoya.kimura <[email protected]>
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...or_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,74 @@ | ||
| <?xml version="1.0"?> | ||
| <root main_tree_to_execute="BehaviorTree"> | ||
| <!-- ////////// --> | ||
| <BehaviorTree ID="BehaviorTree"> | ||
| <Fallback> | ||
| <ReactiveSequence> | ||
| <Condition ID="PullOver_Request"/> | ||
| <Action ID="PullOver_Plan" output="{output}"/> | ||
| </ReactiveSequence> | ||
| <ReactiveSequence> | ||
| <Condition ID="PullOut_Request"/> | ||
| <Action ID="PullOut_Plan" output="{output}"/> | ||
| </ReactiveSequence> | ||
| <ReactiveSequence> | ||
| <Condition ID="SideShift_Request"/> | ||
| <Action ID="SideShift_Plan" output="{output}"/> | ||
| </ReactiveSequence> | ||
| <ReactiveSequence> | ||
| <Condition ID="ExternalRequestLaneChangeRight_Request"/> | ||
| <Action ID="ExternalRequestLaneChangeRight_Plan" output="{output}"/> | ||
| </ReactiveSequence> | ||
| <ReactiveSequence> | ||
| <Condition ID="ExternalRequestLaneChangeLeft_Request"/> | ||
| <Action ID="ExternalRequestLaneChangeLeft_Plan" output="{output}"/> | ||
| </ReactiveSequence> | ||
| <ReactiveSequence> | ||
| <Condition ID="LaneChange_Request"/> | ||
| <Action ID="LaneChange_Plan" output="{output}"/> | ||
| </ReactiveSequence> | ||
| <ReactiveSequence> | ||
| <Condition ID="Avoidance_Request"/> | ||
| <Action ID="Avoidance_Plan" output="{output}"/> | ||
| </ReactiveSequence> | ||
| <Action ID="LaneFollowing_Plan" output="{output}"/> | ||
| </Fallback> | ||
| </BehaviorTree> | ||
| <!-- ////////// --> | ||
| <TreeNodesModel> | ||
| <Action ID="Avoidance_Plan"> | ||
| <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port> | ||
| </Action> | ||
| <Condition ID="Avoidance_Request"/> | ||
| <Condition ID="ExternalApproval"/> | ||
| <Action ID="ExternalRequestLaneChangeRight_Plan"> | ||
| <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port> | ||
| </Action> | ||
| <Condition ID="ExternalRequestLaneChangeRight_Request"/> | ||
| <Action ID="ExternalRequestLaneChangeLeft_Plan"> | ||
| <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port> | ||
| </Action> | ||
| <Condition ID="ExternalRequestLaneChangeLeft_Request"/> | ||
| <Action ID="LaneChange_Plan"> | ||
| <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port> | ||
| </Action> | ||
| <Condition ID="LaneChange_Request"/> | ||
| <Action ID="LaneFollowing_Plan"> | ||
| <output_port name="output" type="boost::optional<tier4_planning_msgs::PathWithLaneId_<std::allocator<void> > >">desc</output_port> | ||
| </Action> | ||
| <Condition ID="LaneFollowing_Request"/> | ||
| <Action ID="PullOut_Plan"> | ||
| <output_port name="output"/> | ||
| </Action> | ||
| <Condition ID="PullOut_Request"/> | ||
| <Action ID="PullOver_Plan"> | ||
| <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port> | ||
| </Action> | ||
| <Condition ID="PullOver_Request"/> | ||
| <Action ID="SideShift_Plan"> | ||
| <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port> | ||
| </Action> | ||
| <Condition ID="SideShift_Request"/> | ||
| </TreeNodesModel> | ||
| <!-- ////////// --> | ||
| </root> |