updated behavior tree to enable dynamic rerouting (#45)

* updated behavior tree to enable dynamic rerouting * renamed variable
usdot-fhwa-stol · Dec 5, 2024 · ec98b44 · ec98b44
1 parent 3c14ee0
commit ec98b44
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/behavior_trees/navigate_through_route_to_pose.xml b/behavior_trees/navigate_through_route_to_pose.xml
@@ -1,7 +1,9 @@
 <root main_tree_to_execute="MainTree">
   <BehaviorTree ID="MainTree">
     <PipelineSequence name="NavigateThroughRouteToPose">
-      <ComputeRoute goal="{goal}" path="{path}" error_code_id="{compute_route_error_code}"/>
+      <RateController hz="1.0">
+        <ComputeRoute goal="{goal}" path="{path}" error_code_id="{compute_route_error_code}"/>
+      </RateController>
       <FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
     </PipelineSequence>
   </BehaviorTree>