From 95313ba442f7d683980ec822613a961f924ea84b Mon Sep 17 00:00:00 2001
From: John Chrosniak <chrosniakj@gmail.com>
Date: Thu, 5 Dec 2024 14:48:40 -0500
Subject: [PATCH 1/2] updated behavior tree to enable dynamic rerouting

---
 behavior_trees/navigate_through_route_to_pose.xml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/behavior_trees/navigate_through_route_to_pose.xml b/behavior_trees/navigate_through_route_to_pose.xml
index 999cdf5..5155db3 100644
--- 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="{updated_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>

From 8c5645a9679e40be28f499133dd4f20159305903 Mon Sep 17 00:00:00 2001
From: John Chrosniak <chrosniakj@gmail.com>
Date: Thu, 5 Dec 2024 14:50:31 -0500
Subject: [PATCH 2/2] renamed variable

---
 behavior_trees/navigate_through_route_to_pose.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/behavior_trees/navigate_through_route_to_pose.xml b/behavior_trees/navigate_through_route_to_pose.xml
index 5155db3..5bfcdc7 100644
--- a/behavior_trees/navigate_through_route_to_pose.xml
+++ b/behavior_trees/navigate_through_route_to_pose.xml
@@ -2,7 +2,7 @@
   <BehaviorTree ID="MainTree">
     <PipelineSequence name="NavigateThroughRouteToPose">
       <RateController hz="1.0">
-        <ComputeRoute goal="{updated_goal}" path="{path}" error_code_id="{compute_route_error_code}"/>
+        <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>