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try_put_field.xml
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<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
<BehaviorTree ID="stepenik">
<Sequence>
<JointPosition instance="m12"
max_effort="0"
max_velocity="180"
position="190"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="0.03"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<Parallel failure_count="1"
success_count="-1">
<JointPosition instance="m12"
max_effort="0"
max_velocity="180"
position="85"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="150"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Parallel>
</Sequence>
</BehaviorTree>
<BehaviorTree ID="try_blue_alternative">
<Sequence>
<Script code="is_second:=true"/>
<Script code="is_first:=true"/>
<Script code="is_thirt:=true"/>
<ScoreboardTask points="15"
task="THREE_PALENS"/>
<ForceSuccess>
<Fallback>
<Sequence _onFailure="is_first=false">
<Parallel failure_count="1"
success_count="-1">
<JointPosition instance="m15"
max_effort="0"
max_velocity="230"
position="0"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m14"
max_effort="0"
max_velocity="180"
position="240"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Move goal="0.75;-0.75;0"
ignore_obstacles="true"
linear_velocity="1.7"
frame_id="map"
angular_velocity="2.4"
mode="7"
linear_acceleration="1.4"
angular_acceleration="2.8"
reversing="0"/>
</Parallel>
<RetryUntilSuccessful num_attempts="6">
<Fallback>
<Move goal="0.05;-0.40;0"
ignore_obstacles="false"
linear_velocity="0.8"
frame_id="map"
angular_velocity="2.4"
mode="6"
linear_acceleration="0.5"
angular_acceleration="2.8"
reversing="2"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<SubTree ID="stepenik"
_autoremap="true"/>
</Sequence>
<JointPosition instance="m12"
max_effort="0"
max_velocity="180"
position="85"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Fallback>
</ForceSuccess>
<ForceSuccess>
<Fallback>
<Sequence _onFailure="is_second=false">
<RetryUntilSuccessful num_attempts="6">
<Fallback>
<Move goal="-0.5;-0.57;0"
ignore_obstacles="false"
linear_velocity="0.7"
frame_id="map"
angular_velocity="2.4"
mode="7"
linear_acceleration="0.4"
angular_acceleration="2.0"
reversing="2"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="-0.07"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="160"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="0.05"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="214"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Sequence>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="214"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Fallback>
</ForceSuccess>
<ForceSuccess>
<Fallback>
<Sequence _onFailure="is_thirt:=false">
<SubTree ID="gentle_attack"
type="7"
linear_velocity="0.7"
linear_acceleration="0.5"
goal="-0.47;-0.11;90"
_autoremap="true"/>
<SubTree ID="try_pick_up_weed_front"
_autoremap="true"/>
</Sequence>
<Sequence>
<JointPosition instance="m3"
max_effort="0"
max_velocity="170"
position="85"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m2"
max_effort="0"
max_velocity="150"
position="137"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Sequence>
</Fallback>
</ForceSuccess>
<ForceSuccess>
<Sequence _skipIf="is_second==false">
<Parallel failure_count="1"
success_count="-1">
<RetryUntilSuccessful num_attempts="7">
<Fallback>
<Move goal="-0.75;-1.05;0"
ignore_obstacles="false"
linear_velocity="0.9"
frame_id="map"
angular_velocity="1.5"
mode="6"
linear_acceleration="0.6"
angular_acceleration="2.0"
reversing="2"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="165"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Parallel>
<RetryUntilSuccessful num_attempts="7">
<Fallback>
<Move goal="-0.75;-0.795;0"
ignore_obstacles="false"
linear_velocity="0.9"
frame_id="map"
angular_velocity="1.5"
mode="7"
linear_acceleration="0.6"
angular_acceleration="2.0"
reversing="0"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="214"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Fallback>
<Timeout msec="3400">
<Move goal="-0.878;-0.795;0"
ignore_obstacles="true"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="7"
linear_acceleration="0.8"
angular_acceleration="1.8"
reversing="2"/>
</Timeout>
<Sequence>
<RetryUntilSuccessful num_attempts="8">
<Fallback>
<Translate frame_id="base_link"
ignore_obstacles="false"
x="0.07"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<Move goal="-0.65;-1.17;0"
ignore_obstacles="true"
linear_velocity="0.9"
frame_id="map"
angular_velocity="1.5"
mode="7"
linear_acceleration="0.6"
angular_acceleration="2.0"
reversing="2"/>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="125"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="0.05"
error="{error}"
linear_velocity="0.07"
linear_acceleration="0.8"
enable_sensors="false"/>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="214"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
<ForceSuccess>
<Timeout msec="750">
<Move goal="-0.9;-0.795;0"
ignore_obstacles="true"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="2"
linear_acceleration="0.8"
angular_acceleration="1.8"
reversing="2"/>
</Timeout>
</ForceSuccess>
<SubTree ID="try_put_plenter_back_down_new"
_autoremap="true"/>
<ScoreboardTask points="12"
task="ALTERNATIVE_SIDE"/>
<RetryUntilSuccessful num_attempts="7">
<Fallback>
<Move goal="-0.70;-0.765;0"
ignore_obstacles="false"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="3"
linear_acceleration="0.8"
angular_acceleration="1.8"
reversing="0"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
</Sequence>
</ForceSuccess>
<ForceSuccess>
<Sequence>
<RetryUntilSuccessful num_attempts="7"
_skipIf="is_second==true || is_thirt==true">
<Fallback>
<Move goal="-0.70;-0.765;0"
ignore_obstacles="false"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="7"
linear_acceleration="0.8"
angular_acceleration="1.8"
reversing="0"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<SubTree ID="try_pick_up_pots_with_fork_new_alternative"
_autoremap="true"/>
<ScoreboardTask points="16"
task="ALTERNATIVE_PLENTER2"/>
<Sequence _onSuccess="is_in_home:=true"
_onFailure="is_in_home:=false">
<Translate frame_id="base_link"
ignore_obstacles="true"
x="-0.03"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<Parallel failure_count="1"
success_count="-1">
<Move goal="90"
ignore_obstacles="true"
linear_velocity="1.5"
frame_id="map"
angular_velocity="2.5"
mode="1"
linear_acceleration="1.0"
angular_acceleration="2.2"
reversing="0"/>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="185"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Parallel>
<ForceSuccess>
<Timeout msec="1000">
<Move goal="-0.45;-1.459;90"
ignore_obstacles="true"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="2"
linear_acceleration="0.8"
angular_acceleration="1.8"
reversing="2"/>
</Timeout>
</ForceSuccess>
<SubTree ID="try_put_plenter_back_up_new"
_autoremap="true"/>
<Sequence>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="0.15"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<SubTree ID="try_put_field"
_skipIf="is_thirt==false"
_autoremap="true"/>
</Sequence>
<Move goal="90"
ignore_obstacles="true"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="1"
linear_acceleration="0.8"
angular_acceleration="1.8"
reversing="0"/>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="0.15"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<Move goal="123"
ignore_obstacles="true"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="1"
linear_acceleration="0.8"
angular_acceleration="1.8"
reversing="0"/>
<SubTree ID="go_home_new"
_skipIf="is_thirt==true"
_autoremap="true"/>
</Sequence>
</Sequence>
</ForceSuccess>
<Sleep msec="120000"/>
</Sequence>
</BehaviorTree>
<BehaviorTree ID="try_put_field">
<Sequence>
<JointPosition instance="m4"
max_effort="0"
max_velocity="150"
position="0"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Parallel failure_count="1"
success_count="-1">
<JointPosition instance="m1"
max_effort="0"
max_velocity="220"
position="275"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m2"
max_effort="0"
max_velocity="180"
position="180"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Parallel>
<Sequence>
<Move goal="180"
ignore_obstacles="true"
linear_velocity="1.5"
frame_id="map"
angular_velocity="2.5"
mode="1"
linear_acceleration="1.0"
angular_acceleration="2.2"
reversing="0"/>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="0.10"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<JointPosition instance="m1"
max_effort="0"
max_velocity="180"
position="174"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m4"
max_effort="0"
max_velocity="180"
position="285"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<ScoreboardTask points="12"
task="PLANTS_WITH_POTS"/>
<RetryUntilSuccessful num_attempts="8">
<Fallback>
<Translate frame_id="base_link"
ignore_obstacles="false"
x="-0.04"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<Sequence>
<Sleep msec="700"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<JointPosition instance="m2"
max_effort="0"
max_velocity="180"
position="72"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m3"
max_effort="0"
max_velocity="220"
position="225"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="-0.04"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<ScoreboardTask points="0"
task="ONE_PLANT_IN_FIELD"/>
</Sequence>
</Sequence>
</BehaviorTree>
<BehaviorTree ID="try_put_field_a">
<Sequence>
<JointPosition instance="m4"
max_effort="0"
max_velocity="150"
position="0"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Parallel failure_count="1"
success_count="-1">
<JointPosition instance="m1"
max_effort="0"
max_velocity="220"
position="275"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m2"
max_effort="0"
max_velocity="180"
position="180"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Parallel>
<Sequence>
<Parallel failure_count="1"
success_count="-1">
<Move goal="180"
ignore_obstacles="true"
linear_velocity="1.5"
frame_id="map"
angular_velocity="2.5"
mode="1"
linear_acceleration="1.0"
angular_acceleration="2.2"
reversing="0"/>
<JointPosition instance="m1"
max_effort="0"
max_velocity="220"
position="225"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Parallel>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="0.10"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<JointPosition instance="m1"
max_effort="0"
max_velocity="180"
position="174"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m4"
max_effort="0"
max_velocity="180"
position="285"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<ScoreboardTask points="12"
task="PLANTS_WITH_POTS"/>
<RetryUntilSuccessful num_attempts="8">
<Fallback>
<Translate frame_id="base_link"
ignore_obstacles="false"
x="-0.04"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<Sequence>
<Sleep msec="700"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<JointPosition instance="m2"
max_effort="0"
max_velocity="180"
position="72"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m3"
max_effort="0"
max_velocity="220"
position="225"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="-0.04"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<ScoreboardTask points="0"
task="ONE_PLANT_IN_FIELD"/>
</Sequence>
</Sequence>
</BehaviorTree>
<BehaviorTree ID="try_yellow_alternative">
<Sequence>
<Script code="is_second:=true"/>
<Script code="is_first:=true"/>
<Script code="is_thirt:=true"/>
<ScoreboardTask points="15"
task="THREE_PALENS"/>
<ForceSuccess>
<Fallback>
<Sequence _onFailure="is_first=false">
<Parallel failure_count="1"
success_count="-1">
<JointPosition instance="m15"
max_effort="0"
max_velocity="230"
position="0"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m14"
max_effort="0"
max_velocity="180"
position="240"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Move goal="0.75;0.75;0"
ignore_obstacles="true"
linear_velocity="1.7"
frame_id="map"
angular_velocity="2.4"
mode="7"
linear_acceleration="1.4"
angular_acceleration="2.8"
reversing="2"/>
</Parallel>
<RetryUntilSuccessful num_attempts="6">
<Fallback>
<Move goal="0.07;0.43;0"
ignore_obstacles="false"
linear_velocity="0.8"
frame_id="map"
angular_velocity="2.4"
mode="6"
linear_acceleration="0.5"
angular_acceleration="2.8"
reversing="2"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<SubTree ID="stepenik"
_autoremap="true"/>
</Sequence>
<JointPosition instance="m12"
max_effort="0"
max_velocity="180"
position="85"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Fallback>
</ForceSuccess>
<ForceSuccess>
<Fallback>
<Sequence _onFailure="is_second=false">
<RetryUntilSuccessful num_attempts="6">
<Fallback>
<Move goal="-0.5;0.57;0"
ignore_obstacles="false"
linear_velocity="0.6"
frame_id="map"
angular_velocity="2.4"
mode="7"
linear_acceleration="0.4"
angular_acceleration="2.8"
reversing="2"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="-0.07"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="160"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="0.05"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="214"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Sequence>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="214"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Fallback>
</ForceSuccess>
<ForceSuccess>
<Fallback>
<Sequence _onFailure="is_thirt:=false">
<JointPosition instance="m1"
max_effort="0"
max_velocity="220"
position="174"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m2"
max_effort="0"
max_velocity="180"
position="78"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m3"
max_effort="0"
max_velocity="220"
position="220"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<SubTree ID="gentle_attack"
type="7"
linear_velocity="0.7"
linear_acceleration="0.5"
goal="-0.47;0.12;-90"
_autoremap="true"/>
<SubTree ID="try_pick_up_weed_front"
_autoremap="true"/>
</Sequence>
<Sequence>
<JointPosition instance="m3"
max_effort="0"
max_velocity="170"
position="85"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m2"
max_effort="0"
max_velocity="150"
position="137"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Sequence>
</Fallback>
</ForceSuccess>
<ForceSuccess>
<Sequence _skipIf="is_second==false">
<Parallel failure_count="1"
success_count="-1">
<RetryUntilSuccessful num_attempts="7">
<Fallback>
<Move goal="-0.75;1.05;0"
ignore_obstacles="false"
linear_velocity="0.9"
frame_id="map"
angular_velocity="1.5"
mode="6"
linear_acceleration="0.6"
angular_acceleration="2.0"
reversing="2"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="165"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Parallel>
<RetryUntilSuccessful num_attempts="7">
<Fallback>
<Move goal="-0.75;0.795;0"
ignore_obstacles="false"
linear_velocity="0.9"
frame_id="map"
angular_velocity="1.5"
mode="7"
linear_acceleration="0.6"
angular_acceleration="2.0"
reversing="0"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="214"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Fallback>
<Timeout msec="3150">
<Move goal="-0.86;0.795;0"
ignore_obstacles="true"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="7"
linear_acceleration="0.8"
angular_acceleration="1.8"
reversing="2"/>
</Timeout>
<Sequence>
<RetryUntilSuccessful num_attempts="8">
<Fallback>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="0.05"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<Move goal="-0.65;1.17;0"
ignore_obstacles="true"
linear_velocity="0.9"
frame_id="map"
angular_velocity="1.5"
mode="7"
linear_acceleration="0.6"
angular_acceleration="2.0"
reversing="2"/>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="125"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="0.07"
error="{error}"
linear_velocity="0.065"
linear_acceleration="0.8"
enable_sensors="false"/>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="214"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<AlwaysFailure/>
</Sequence>