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{
"$schema": "https://mecha10.dev/schemas/behavior-composition-v1.json",
"name": "patrol",
"description": "Default patrol behavior with waypoint following, obstacle avoidance, and status reporting",
"root": {
"type": "sequence",
"name": "patrol_loop",
"children": [
{
"type": "node",
"node": "check_battery_level",
"name": "battery_check",
"config": {
"min_battery_percentage": 20.0,
"return_to_base_threshold": 15.0
}
},
{
"type": "selector",
"name": "patrol_or_return",
"children": [
{
"type": "sequence",
"name": "patrol_waypoints",
"children": [
{
"type": "node",
"node": "load_waypoints",
"name": "waypoint_loader",
"config": {
"waypoint_file": "configs/waypoints/patrol_route.json",
"loop_route": true,
"load_on_init": true
}
},
{
"type": "node",
"node": "get_next_waypoint",
"name": "waypoint_selector",
"config": {
"cycle_mode": "sequential",
"skip_reached": true
}
},
{
"type": "parallel",
"name": "navigate_with_monitoring",
"policy": "require_one",
"children": [
{
"type": "sequence",
"name": "navigation_sequence",
"children": [
{
"type": "node",
"node": "plan_path",
"name": "path_planner",
"config_ref": "path_planning"
},
{
"type": "selector",
"name": "navigate_or_avoid",
"children": [
{
"type": "sequence",
"name": "obstacle_handling",
"children": [
{
"type": "node",
"node": "detect_obstacles",
"name": "obstacle_detector",
"config_ref": "obstacle_detection"
},
{
"type": "selector",
"name": "avoidance_strategy",
"children": [
{
"type": "node",
"node": "replan_around_obstacle",
"name": "dynamic_replanner",
"config": {
"replan_timeout_sec": 2.0,
"max_replan_attempts": 3
}
},
{
"type": "node",
"node": "wait_for_clearance",
"name": "obstacle_waiter",
"config": {
"max_wait_time_sec": 10.0,
"check_interval_ms": 500
}
}
]
}
]
},
{
"type": "node",
"node": "follow_path",
"name": "path_follower",
"config_ref": "path_following"
}
]
},
{
"type": "node",
"node": "check_waypoint_reached",
"name": "waypoint_validator",
"config": {
"distance_threshold": 0.3,
"heading_threshold_deg": 15.0
}
}
]
},
{
"type": "node",
"node": "publish_status",
"name": "status_reporter",
"config": {
"publish_interval_sec": 2.0,
"topic": "/robot/patrol_status",
"include_position": true,
"include_velocity": true,
"include_battery": true
}
}
]
},
{
"type": "node",
"node": "record_waypoint_visit",
"name": "visit_logger",
"config": {
"log_timestamp": true,
"log_duration": true,
"save_to_file": true
}
}
]
},
{
"type": "sequence",
"name": "return_to_base",
"children": [
{
"type": "node",
"node": "set_base_as_goal",
"name": "base_goal_setter",
"config": {
"base_position": [0.0, 0.0, 0.0],
"base_orientation": [0.0, 0.0, 0.0, 1.0]
}
},
{
"type": "node",
"node": "navigate_to_goal",
"name": "base_navigator",
"config": {
"approach_speed": 0.3,
"final_position_tolerance": 0.15
}
},
{
"type": "node",
"node": "initiate_charging",
"name": "charging_initiator",
"config": {
"docking_enabled": true,
"align_with_dock": true,
"contact_timeout_sec": 30.0
}
}
]
}
]
}
]
},
"configs": {
"path_planning": {
"planner_type": "a_star",
"grid_resolution": 0.05,
"allow_unknown": false,
"use_costmap": true,
"inflation_radius": 0.3,
"cost_scaling_factor": 10.0
},
"obstacle_detection": {
"sensor_types": ["lidar", "sonar"],
"fusion_method": "max_confidence",
"detection_range": 5.0,
"min_obstacle_size": 0.1,
"confidence_threshold": 0.7,
"update_rate_hz": 20.0
},
"path_following": {
"controller_type": "pure_pursuit",
"max_linear_speed": 0.8,
"max_angular_speed": 1.0,
"lookahead_distance": 0.5,
"position_tolerance": 0.2,
"angular_tolerance_deg": 10.0
}
}
}