Sarath18

#!/usr/bin/python3
import rclpy
from rclpy.node import Node
from geometry_msgs.msg import PoseStamped
from nav_msgs.msg import Path
from math import sin, cos, pi
from squaternion import Quaternion

class PathPublisher(Node):

Sarath18

#!/usr/bin/python3
import rclpy
from rclpy.node import Node
import cv2
import os
import sys
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError

class ImagePublisher(Node):

Sarath18

<?xml version="1.0"?>
<root main_tree_to_execute="MainTree">
  <BehaviorTree ID="MainTree">
    <PipelineSequence name="NavigateWithReplanning">
      <RateController hz="1.0">
        <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
      </RateController>
      <FollowPath path="{path}"  controller_id="FollowPath"/>
    </PipelineSequence>
  </BehaviorTree>

Sarath18

#include <ros/ros.h>
#include <iostream>
#include <behaviortree_cpp/bt_factory.h>
#include <behaviortree_cpp/behavior_tree.h>
#include <nav_msgs/Odometry.h>
#include <bits/stdc++.h>
#include <math.h>

using namespace BT;
std::pair<int,int> target (5, 5);