navigate_w_replanning

<?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>

  <TreeNodesModel>
    <!-- Action Nodes -->
    <Action ID="ComputePathToPose">
      <input_port name="goal"/>
      <output_port name="path"/>
      <input_port name="planner_id" default="GridBased"/>
    </Action>

    <Action ID="FollowPath">
      <input_port name="controller_id" default="FollowPath"/>
      <input_port name="path"/>
    </Action>

    <Action ID="Spin">
      <input_port name="spin_dist"/>
    </Action>

    <Action ID="Wait">
      <input_port name="wait_duration"/>
    </Action>

    <Action ID="ClearEntireCostmap">
      <input_port name="service_name"/>
    </Action>

    <!-- Control Nodes -->
    <Control ID="PipelineSequence"/>
    
    <Control ID="RecoveryNode">
      <input_port name="number_of_retries"/>
    </Control>

    <Control ID="RoundRobin"/>

    <!-- Decorators -->
    <Decorator ID="RateController">
      <input_port name="hz"/>
    </Decorator>

  </TreeNodesModel>
</root>

navigate_w_replanning_groot

<?xml version="1.0"?>
<root main_tree_to_execute="MainTree">
    <!-- ////////// -->
    <BehaviorTree ID="MainTree">
        <ReactiveSequence>
            <Decorator ID="RateController" hz="1.0">
                <Action ID="ComputePathToPose" goal="{goal}" path="{path}" planner_id="GridBased"/>
            </Decorator>
            <Action ID="FollowPath" controller_id="FollowPath" path="{path}"/>
        </ReactiveSequence>
    </BehaviorTree>
    <!-- ////////// -->
    <TreeNodesModel>
        <Action ID="ClearEntireCostmap">
            <input_port name="service_name"/>
        </Action>
        <Action ID="ComputePathToPose">
            <input_port name="goal"/>
            <output_port name="path"/>
            <input_port default="GridBased" name="planner_id"/>
        </Action>
        <Action ID="FollowPath">
            <input_port default="FollowPath" name="controller_id"/>
            <input_port name="path"/>
        </Action>
        <Control ID="PipelineSequence"/>
        <Decorator ID="RateController">
            <input_port name="hz"/>
        </Decorator>
        <Control ID="RecoveryNode">
            <input_port name="number_of_retries"/>
        </Control>
        <Control ID="RoundRobin"/>
        <Action ID="Spin">
            <input_port name="spin_dist"/>
        </Action>
        <Action ID="Wait">
            <input_port name="wait_duration"/>
        </Action>
    </TreeNodesModel>
    <!-- ////////// -->
</root>