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<root BTCPP_format="4" main_tree_to_execute="MainTree">
  <BehaviorTree ID="MainTree">
   <Sequence>
    <ControllerSelector selected_controller="{selected_controller}"
                        default_controller="FollowPath"
                        topic_name="controller_selector"/>
    <PlannerSelector selected_planner="{selected_planner}"
                     default_planner="GridBased"
                     topic_name="planner_selector"/>

    <PipelineSequence name="NavigateLoop">

      <RateController hz="1.0">
        <ComputePathToPose goal="{goal}"
                           path="{path}"
                           planner_id="{selected_planner}"
                           error_code_id="{compute_path_error_code}"/>
      </RateController>

      <RetryUntilSuccessful num_attempts="1000">
        <ForceFailure>
            <Fallback name="FollowOrWait">
                <ReactiveSequence>
                    <IsPathValid path="{path}"/>
                    <FollowPath path="{path}"
                                controller_id="{selected_controller}"
                                error_code_id="{follow_path_error_code}"/>
                </ReactiveSequence>
                <Sequence name="WaitThenReplan">
                    <Wait wait_duration="4.0"/>
                    <ComputePathToPose goal="{goal}"
                                        path="{path}"
                                        planner_id="{selected_planner}"
                                        error_code_id="{compute_path_error_code}"/>
                </Sequence>
            </Fallback>
        </ForceFailure>
      </RetryUntilSuccessful>
    </PipelineSequence>
    </Sequence>
  </BehaviorTree>
</root>