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Added Changes from AS2FM until commit: e517ec2ad6bae6339ec3f2e857fc088005c150ca #25

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Merged
roby-ianny merged 3 commits into from
Jan 4, 2026
Merged

Added Changes from AS2FM until commit: e517ec2ad6bae6339ec3f2e857fc088005c150ca #25

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db64e56
Synced Commit: 03b5b3c1db677b5080e9a1a8e084c6e19b701b5e #24
roby-ianny Jan 2, 2026
b3ec5df
Synced Commit: 042054b40fa3e9c6d30bd738e9f8e1f502bb7c97 #24
roby-ianny Jan 2, 2026
caf7246
Synced Commit: e517ec2ad6bae6339ec3f2e857fc088005c150ca #24
roby-ianny Jan 2, 2026
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4 changes: 2 additions & 2 deletions ...art_battery_monitor/battery_drainer.scxml → ...rt_battery_monitor/battery_drainer.ascxml
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@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
<scxml
<ascxml
initial="use_battery"
version="1.0"
name="BatteryDrainer"
Expand Down Expand Up @@ -27,4 +27,4 @@
<assign location="battery_percent" expr="100" />
</ros_topic_callback>
</state>
</scxml>
</ascxml>
4 changes: 2 additions & 2 deletions ...art_battery_monitor/battery_manager.scxml → ...rt_battery_monitor/battery_manager.ascxml
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<?xml version="1.0" encoding="UTF-8"?>
<scxml
<ascxml
initial="check_battery"
version="1.0"
name="BatteryManager"
Expand All @@ -23,4 +23,4 @@
</ros_topic_publish>
</onentry>
</state>
</scxml>
</ascxml>
4 changes: 2 additions & 2 deletions ...art_battery_monitor/bt_topic_action.scxml → ...rt_battery_monitor/bt_topic_action.ascxml
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<?xml version="1.0" encoding="UTF-8"?>
<scxml
<ascxml
initial="initial"
version="1.0"
name="TopicAction"
Expand All @@ -21,4 +21,4 @@
</bt_halt>
</state>

</scxml>
</ascxml>
4 changes: 2 additions & 2 deletions ..._battery_monitor/bt_topic_condition.scxml → ...battery_monitor/bt_topic_condition.ascxml
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<?xml version="1.0" encoding="UTF-8"?>
<scxml
<ascxml
initial="initial"
version="1.0"
name="TopicCondition"
Expand Down Expand Up @@ -31,4 +31,4 @@
</bt_halt>
</state>

</scxml>
</ascxml>
14 changes: 7 additions & 7 deletions examples/quick_start_battery_monitor/main.xml
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Expand Up @@ -7,16 +7,16 @@

<behavior_tree>
<input type="bt.cpp-xml" src="./bt.xml" />
<input type="bt-plugin-ascxml" src="./bt_topic_condition.scxml" />
<input type="bt-plugin-ascxml" src="./bt_topic_action.scxml" />
<input type="bt-plugin-ascxml" src="./bt_topic_condition.ascxml" />
<input type="bt-plugin-ascxml" src="./bt_topic_action.ascxml" />
</behavior_tree>

<node_models>
<input type="node-ascxml" src="./battery_drainer.scxml" />
<input type="node-ascxml" src="./battery_manager.scxml" />
<input type="node-ascxml" src="./battery_drainer.ascxml" />
<input type="node-ascxml" src="./battery_manager.ascxml" />
</node_models>

<properties>
<input type="jani" src="./battery_properties.jani" />
</properties>
<properties>
<input type="jani" src="./battery_properties.jani" />
</properties>
</roaml>
4 changes: 2 additions & 2 deletions ..._fetch_and_carry/bt_navigate_action.scxml → ...fetch_and_carry/bt_navigate_action.ascxml
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@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
<scxml
<ascxml
initial="initial"
version="1.0"
name="NavigateAction"
Expand Down Expand Up @@ -61,4 +61,4 @@
</bt_halt>
</state>

</scxml>
</ascxml>
4 changes: 2 additions & 2 deletions ...rial_fetch_and_carry/bt_pick_action.scxml → ...ial_fetch_and_carry/bt_pick_action.ascxml
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@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
<scxml
<ascxml
initial="initial"
version="1.0"
name="PickAction"
Expand Down Expand Up @@ -62,4 +62,4 @@
</bt_halt>
</state>

</scxml>
</ascxml>
4 changes: 2 additions & 2 deletions ...ial_fetch_and_carry/bt_place_action.scxml → ...al_fetch_and_carry/bt_place_action.ascxml
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<?xml version="1.0" encoding="UTF-8"?>
<scxml
<ascxml
initial="initial"
version="1.0"
name="PlaceAction"
Expand Down Expand Up @@ -53,4 +53,4 @@
</bt_halt>
</state>

</scxml>
</ascxml>
2 changes: 1 addition & 1 deletion examples/tutorial_fetch_and_carry/bt_tree.xml
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@@ -1,5 +1,5 @@
<root BTCPP_format="4">
<BehaviorTree>
<BehaviorTree ID="FetchAndCarry">
<!-- For now use a normal sequence, since failures aren't expected yet -->
<SequenceWithMemory>
<!--
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2 changes: 1 addition & 1 deletion examples/tutorial_fetch_and_carry/bt_tree_retry.xml
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<root BTCPP_format="4">
<BehaviorTree>
<BehaviorTree ID="FetchAndCarry">
<RetryUntilSuccessful num_attempts="5">
<SequenceWithMemory>
<!--
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14 changes: 7 additions & 7 deletions examples/tutorial_fetch_and_carry/main.xml
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Expand Up @@ -6,16 +6,16 @@

<behavior_tree>
<input type="bt.cpp-xml" src="./bt_tree.xml" />
<input type="bt-plugin-ascxml" src="./bt_navigate_action.scxml" />
<input type="bt-plugin-ascxml" src="./bt_pick_action.scxml" />
<input type="bt-plugin-ascxml" src="./bt_place_action.scxml" />
<input type="bt-plugin-ascxml" src="./bt_navigate_action.ascxml" />
<input type="bt-plugin-ascxml" src="./bt_pick_action.ascxml" />
<input type="bt-plugin-ascxml" src="./bt_place_action.ascxml" />
</behavior_tree>

<node_models>
<input type="node-ascxml" src="./world.scxml" />
<input type="node-ascxml" src="./world.ascxml" />
</node_models>

<properties>
<input type="jani" src="./properties.jani" />
</properties>
<properties>
<input type="jani" src="./properties.jani" />
</properties>
</roaml>
14 changes: 7 additions & 7 deletions examples/tutorial_fetch_and_carry/main_probabilistic.xml
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Expand Up @@ -6,16 +6,16 @@

<behavior_tree>
<input type="bt.cpp-xml" src="./bt_tree.xml" />
<input type="bt-plugin-ascxml" src="./bt_navigate_action.scxml" />
<input type="bt-plugin-ascxml" src="./bt_pick_action.scxml" />
<input type="bt-plugin-ascxml" src="./bt_place_action.scxml" />
<input type="bt-plugin-ascxml" src="./bt_navigate_action.ascxml" />
<input type="bt-plugin-ascxml" src="./bt_pick_action.ascxml" />
<input type="bt-plugin-ascxml" src="./bt_place_action.ascxml" />
</behavior_tree>

<node_models>
<input type="node-ascxml" src="./world_probabilistic.scxml" />
<input type="node-ascxml" src="./world_probabilistic.ascxml" />
</node_models>

<properties>
<input type="jani" src="./properties.jani" />
</properties>
<properties>
<input type="jani" src="./properties.jani" />
</properties>
</roaml>
8 changes: 4 additions & 4 deletions examples/tutorial_fetch_and_carry/main_probabilistic_extended_bt.xml
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Expand Up @@ -6,13 +6,13 @@

<behavior_tree>
<input type="bt.cpp-xml" src="./bt_tree_retry.xml" />
<input type="bt-plugin-ascxml" src="./bt_navigate_action.scxml" />
<input type="bt-plugin-ascxml" src="./bt_pick_action.scxml" />
<input type="bt-plugin-ascxml" src="./bt_place_action.scxml" />
<input type="bt-plugin-ascxml" src="./bt_navigate_action.ascxml" />
<input type="bt-plugin-ascxml" src="./bt_pick_action.ascxml" />
<input type="bt-plugin-ascxml" src="./bt_place_action.ascxml" />
</behavior_tree>

<node_models>
<input type="node-ascxml" src="./world_probabilistic.scxml" />
<input type="node-ascxml" src="./world_probabilistic.ascxml" />
</node_models>

<properties>
Expand Down
29 changes: 29 additions & 0 deletions examples/tutorial_fetch_and_carry/properties.jani
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@@ -0,0 +1,29 @@
{
"properties": [
{
"name": "snack_at_table",
"expression": {
"op": "filter",
"fun": "values",
"values": {
"op": "Pmin",
"exp": {
"op": "F",
"exp": {
"op": "∧",
"left": {
"op": "=",
"left": "topic_snacks0_loc_msg__ros_fields__data",
"right": 1
},
"right": "topic_snacks0_loc_msg.valid"
}
}
},
"states": {
"op": "initial"
}
}
}
]
}
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