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https://gitee.com/dlmu-cone/Arborflow
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feat: dark/light theme, i18n (zh/en), inline node params with IN/OUT, root node, custom node creation, minimap & light mode contrast fixes
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144
test_rmul_2025.xml
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144
test_rmul_2025.xml
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<?xml version="1.0" encoding="UTF-8"?>
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<root BTCPP_format="4">
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<BehaviorTree ID="check_game_start">
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<Fallback>
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<IsGameStatus name="IsGameStart"
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max_remain_time="420"
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min_remain_time="0"
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expected_game_progress="4"
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key_port="{@referee_gameStatus}"/>
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<ForceFailure>
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<Sequence>
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<PublishSpinSpeed spin_speed="0.0"
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duration="0.0"
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topic_name="cmd_spin"/>
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<PublishTwist v_y="0.0"
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v_yaw="0.0"
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v_x="0.0"
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duration="0.0"
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topic_name="cmd_vel"/>
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</Sequence>
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</ForceFailure>
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</Fallback>
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</BehaviorTree>
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<BehaviorTree ID="check_robot_status">
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<Fallback>
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<IsStatusOK ammo_min="0"
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heat_max="350"
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hp_min="200"
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key_port="{@referee_robotStatus}"/>
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<ForceFailure>
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<Fallback>
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<IsRfidDetected friendly_supply_zone_exchange="false"
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friendly_supply_zone_non_exchange="true"
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center_gain_point="false"
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friendly_fortress_gain_point="false"
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key_port="{@referee_rfidStatus}"/>
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<PubNav2Goal goal="0;0;0"
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topic_name="goal_pose"/>
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</Fallback>
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</ForceFailure>
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</Fallback>
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</BehaviorTree>
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<BehaviorTree ID="rmul_2025">
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<KeepRunningUntilFailure>
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<ForceSuccess>
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<ReactiveSequence>
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<SubTree ID="check_game_start"/>
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<PublishSpinSpeed spin_speed="7.0"
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duration="0.0"
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topic_name="cmd_spin"/>
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<SubTree ID="check_robot_status"/>
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<PubNav2Goal goal="4.65;-3.5;0"
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topic_name="goal_pose"/>
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</ReactiveSequence>
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</ForceSuccess>
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</KeepRunningUntilFailure>
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</BehaviorTree>
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<!-- Description of Node Models (used by Groot) -->
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<TreeNodesModel>
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<Condition ID="IsGameStatus">
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<input_port name="max_remain_time"
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default="420"
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type="int">Maximum remaining time (s)</input_port>
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<input_port name="min_remain_time"
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default="0"
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type="int">Minimum remaining time (s)</input_port>
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<input_port name="expected_game_progress"
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default="4"
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type="int">Expected game progress stage</input_port>
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<input_port name="key_port"
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default="{@referee_gameStatus}"
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type="pb_rm_interfaces::msg::GameStatus_<std::allocator<void> >">GameStatus port on blackboard</input_port>
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</Condition>
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<Condition ID="IsRfidDetected">
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<input_port name="friendly_supply_zone_exchange"
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default="false"
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type="bool">己方与兑换区重叠的补给区</input_port>
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<input_port name="friendly_supply_zone_non_exchange"
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default="false"
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type="bool">己方与兑换区不重叠的补给区 / RMUL 补给区</input_port>
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<input_port name="center_gain_point"
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default="false"
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type="bool">中心增益点（仅 RMUL 适用）</input_port>
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<input_port name="friendly_fortress_gain_point"
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default="false"
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type="bool">己方堡垒增益点</input_port>
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<input_port name="key_port"
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default="{@referee_rfidStatus}"
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type="pb_rm_interfaces::msg::RfidStatus_<std::allocator<void> >">RfidStatus port on blackboard</input_port>
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</Condition>
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<Condition ID="IsStatusOK">
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<input_port name="ammo_min"
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default="0"
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type="int">Lower then minimum ammo will return FAILURE</input_port>
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<input_port name="heat_max"
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default="350"
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type="int">Maximum heat. NOTE: Sentry heat limit is 400</input_port>
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<input_port name="hp_min"
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default="300"
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type="int">Minimum HP. NOTE: Sentry init/max HP is 400</input_port>
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<input_port name="key_port"
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default="{@referee_robotStatus}"
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type="pb_rm_interfaces::msg::RobotStatus_<std::allocator<void> >">RobotStatus port on blackboard</input_port>
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</Condition>
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<Condition ID="PubNav2Goal">
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<input_port name="goal"
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default="0;0;0"
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type="geometry_msgs::msg::PoseStamped_<std::allocator<void> >">Expected goal pose that send to nav2. Fill with format `x;y;yaw`</input_port>
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<input_port name="topic_name"
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default="__default__placeholder__"
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type="std::string">Topic name</input_port>
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</Condition>
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<Action ID="PublishSpinSpeed">
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<input_port name="spin_speed"
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default="0.000000"
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type="double">Angular Z velocity (rad/s)</input_port>
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<input_port name="duration"
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type="std::chrono::milliseconds">Publish then sleep duration in milliseconds</input_port>
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<input_port name="topic_name"
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default="__default__placeholder__"
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type="std::string">Topic name</input_port>
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</Action>
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<Action ID="PublishTwist">
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<input_port name="v_y"
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default="0.000000"
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type="double">Linear Y velocity (m/s)</input_port>
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<input_port name="v_yaw"
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default="0.000000"
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type="double">Angular Z velocity (rad/s)</input_port>
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<input_port name="v_x"
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default="0.000000"
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type="double">Linear X velocity (m/s)</input_port>
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<input_port name="duration"
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type="std::chrono::milliseconds">Publish then sleep duration in milliseconds</input_port>
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<input_port name="topic_name"
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default="__default__placeholder__"
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type="std::string">Topic name</input_port>
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</Action>
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</TreeNodesModel>
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</root>
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