Behavior Tree

<!--
  This Behavior Tree replans the global path periodically at 1 Hz through an array of poses continuously
   and it also has recovery actions specific to planning / control as well as general system issues.
-->
<root main_tree_to_execute="MainTree">
  <BehaviorTree ID="MainTree">
    <RecoveryNode number_of_retries="6" name="NavigateRecovery">
      <PipelineSequence name="NavigateWithReplanning">
        <RateController hz="0.333">
          <RecoveryNode number_of_retries="1" name="ComputePathThroughPoses">
            <ReactiveSequence>
              <RemovePassedGoals input_goals="{goals}" output_goals="{goals}" radius="0.7"/>
              <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="GridBased"/>
            </ReactiveSequence>
            <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
          </RecoveryNode>
        </RateController>
        <ReactiveSequence name="MonitorAndFollowPath">
          <PathLongerOnApproach path="{path}" prox_len="0.25" length_factor="1.5">
            <RetryUntilSuccessful num_attempts="1">
              <SequenceStar name="CancelingControlAndWait">
                <CancelControl name="ControlCancel"/>
                <Wait wait_duration="5.0"/>
              </SequenceStar>
            </RetryUntilSuccessful>
          </PathLongerOnApproach>
        <RecoveryNode number_of_retries="1" name="FollowPath">
          <FollowPath path="{path}" controller_id="FollowPath"/>
          <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
        </RecoveryNode>
        </ReactiveSequence>
      </PipelineSequence>
      <ReactiveFallback name="RecoveryFallback">
        <GoalUpdated/>
        <RoundRobin name="RecoveryActions">
          <Sequence name="ClearingActions">
            <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
            <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
          </Sequence>
          <Spin spin_dist="1.57"/>
          <Wait wait_duration="5"/>
          <BackUp backup_dist="0.30" backup_speed="0.05"/>
        </RoundRobin>
      </ReactiveFallback>
    </RecoveryNode>
  </BehaviorTree>
</root>