Arborflow/test_rmul_2025.xml

<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
  <BehaviorTree ID="check_game_start">
    <Fallback>
      <IsGameStatus name="IsGameStart"
                    max_remain_time="420"
                    min_remain_time="0"
                    expected_game_progress="4"
                    key_port="{@referee_gameStatus}"/>
      <ForceFailure>
        <Sequence>
          <PublishSpinSpeed spin_speed="0.0"
                            duration="0.0"
                            topic_name="cmd_spin"/>
          <PublishTwist v_y="0.0"
                        v_yaw="0.0"
                        v_x="0.0"
                        duration="0.0"
                        topic_name="cmd_vel"/>
        </Sequence>
      </ForceFailure>
    </Fallback>
  </BehaviorTree>

  <BehaviorTree ID="check_robot_status">
    <Fallback>
      <IsStatusOK ammo_min="0"
                  heat_max="350"
                  hp_min="200"
                  key_port="{@referee_robotStatus}"/>
      <ForceFailure>
        <Fallback>
          <IsRfidDetected friendly_supply_zone_exchange="false"
                          friendly_supply_zone_non_exchange="true"
                          center_gain_point="false"
                          friendly_fortress_gain_point="false"
                          key_port="{@referee_rfidStatus}"/>
          <PubNav2Goal goal="0;0;0"
                       topic_name="goal_pose"/>
        </Fallback>
      </ForceFailure>
    </Fallback>
  </BehaviorTree>

  <BehaviorTree ID="rmul_2025">
    <KeepRunningUntilFailure>
      <ForceSuccess>
        <ReactiveSequence>
          <SubTree ID="check_game_start"/>
          <PublishSpinSpeed spin_speed="7.0"
                            duration="0.0"
                            topic_name="cmd_spin"/>
          <SubTree ID="check_robot_status"/>
          <PubNav2Goal goal="4.65;-3.5;0"
                       topic_name="goal_pose"/>
        </ReactiveSequence>
      </ForceSuccess>
    </KeepRunningUntilFailure>
  </BehaviorTree>

  <!-- Description of Node Models (used by Groot) -->
  <TreeNodesModel>
    <Condition ID="IsGameStatus">
      <input_port name="max_remain_time"
                  default="420"
                  type="int">Maximum remaining time (s)</input_port>
      <input_port name="min_remain_time"
                  default="0"
                  type="int">Minimum remaining time (s)</input_port>
      <input_port name="expected_game_progress"
                  default="4"
                  type="int">Expected game progress stage</input_port>
      <input_port name="key_port"
                  default="{@referee_gameStatus}"
                  type="pb_rm_interfaces::msg::GameStatus_&lt;std::allocator&lt;void&gt; &gt;">GameStatus port on blackboard</input_port>
    </Condition>
    <Condition ID="IsRfidDetected">
      <input_port name="friendly_supply_zone_exchange"
                  default="false"
                  type="bool">己方与兑换区重叠的补给区</input_port>
      <input_port name="friendly_supply_zone_non_exchange"
                  default="false"
                  type="bool">己方与兑换区不重叠的补给区 / RMUL 补给区</input_port>
      <input_port name="center_gain_point"
                  default="false"
                  type="bool">中心增益点（仅 RMUL 适用）</input_port>
      <input_port name="friendly_fortress_gain_point"
                  default="false"
                  type="bool">己方堡垒增益点</input_port>
      <input_port name="key_port"
                  default="{@referee_rfidStatus}"
                  type="pb_rm_interfaces::msg::RfidStatus_&lt;std::allocator&lt;void&gt; &gt;">RfidStatus port on blackboard</input_port>
    </Condition>
    <Condition ID="IsStatusOK">
      <input_port name="ammo_min"
                  default="0"
                  type="int">Lower then minimum ammo will return FAILURE</input_port>
      <input_port name="heat_max"
                  default="350"
                  type="int">Maximum heat. NOTE: Sentry heat limit is 400</input_port>
      <input_port name="hp_min"
                  default="300"
                  type="int">Minimum HP. NOTE: Sentry init/max HP is 400</input_port>
      <input_port name="key_port"
                  default="{@referee_robotStatus}"
                  type="pb_rm_interfaces::msg::RobotStatus_&lt;std::allocator&lt;void&gt; &gt;">RobotStatus port on blackboard</input_port>
    </Condition>
    <Condition ID="PubNav2Goal">
      <input_port name="goal"
                  default="0;0;0"
                  type="geometry_msgs::msg::PoseStamped_&lt;std::allocator&lt;void&gt; &gt;">Expected goal pose that send to nav2. Fill with format `x;y;yaw`</input_port>
      <input_port name="topic_name"
                  default="__default__placeholder__"
                  type="std::string">Topic name</input_port>
    </Condition>
    <Action ID="PublishSpinSpeed">
      <input_port name="spin_speed"
                  default="0.000000"
                  type="double">Angular Z velocity (rad/s)</input_port>
      <input_port name="duration"
                  type="std::chrono::milliseconds">Publish then sleep duration in milliseconds</input_port>
      <input_port name="topic_name"
                  default="__default__placeholder__"
                  type="std::string">Topic name</input_port>
    </Action>
    <Action ID="PublishTwist">
      <input_port name="v_y"
                  default="0.000000"
                  type="double">Linear Y velocity (m/s)</input_port>
      <input_port name="v_yaw"
                  default="0.000000"
                  type="double">Angular Z velocity (rad/s)</input_port>
      <input_port name="v_x"
                  default="0.000000"
                  type="double">Linear X velocity (m/s)</input_port>
      <input_port name="duration"
                  type="std::chrono::milliseconds">Publish then sleep duration in milliseconds</input_port>
      <input_port name="topic_name"
                  default="__default__placeholder__"
                  type="std::string">Topic name</input_port>
    </Action>
  </TreeNodesModel>

</root>