runtime/rbs_bt_executor/bt_trees/test_tree_main.xml

<?xml version='1.0' encoding='utf-8'?>
<root main_tree_to_execute="MainTree" BTCPP_format="4">
    <BehaviorTree ID="MainTree">
        <Sequence>
            <Action ID="GetPickPlacePoses" ObjectName="box1" GraspDirection="y" PlaceDirection="z" GraspPose="{GraspPose}" PostGraspPose="{PostGraspPose}" PostPostGraspPose="{PostPostGraspPose}" PreGraspPose="{PreGraspPose}" PlacePose="{PlacePose}" PrePlacePose="{PrePlacePose}" PostPlacePose="{PostPlacePose}" server_name="/get_pick_place_pose_service" server_timeout="1000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PreGraspPose}" server_name="/move_topose" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{GraspPose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="GripperControl" pose="close" server_name="/gripper_control" server_timeout="10" cancel_timeout="5" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PostGraspPose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PostPostGraspPose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PrePlacePose}" server_name="/move_topose" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PlacePose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="GripperControl" pose="open" server_name="/gripper_control" server_timeout="10" cancel_timeout="5" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PostPlacePose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            
            <Action ID="GetPickPlacePoses" ObjectName="box2" GraspDirection="y" PlaceDirection="z" GraspPose="{GraspPose}" PostGraspPose="{PostGraspPose}" PostPostGraspPose="{PostPostGraspPose}" PreGraspPose="{PreGraspPose}" PlacePose="{PlacePose}" PrePlacePose="{PrePlacePose}" PostPlacePose="{PostPlacePose}" server_name="/get_pick_place_pose_service" server_timeout="1000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PreGraspPose}" server_name="/move_topose" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{GraspPose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="GripperControl" pose="close" server_name="/gripper_control" server_timeout="10" cancel_timeout="5" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PostGraspPose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PostPostGraspPose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PrePlacePose}" server_name="/move_topose" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PlacePose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="GripperControl" pose="open" server_name="/gripper_control" server_timeout="10" cancel_timeout="5" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PostPlacePose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />

            <Action ID="GetPickPlacePoses" ObjectName="box3" GraspDirection="y" PlaceDirection="z" GraspPose="{GraspPose}" PostGraspPose="{PostGraspPose}" PostPostGraspPose="{PostPostGraspPose}" PreGraspPose="{PreGraspPose}" PlacePose="{PlacePose}" PrePlacePose="{PrePlacePose}" PostPlacePose="{PostPlacePose}" server_name="/get_pick_place_pose_service" server_timeout="1000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PreGraspPose}" server_name="/move_topose" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{GraspPose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="GripperControl" pose="close" server_name="/gripper_control" server_timeout="10" cancel_timeout="5" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PostGraspPose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PostPostGraspPose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PrePlacePose}" server_name="/move_topose" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PlacePose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="GripperControl" pose="open" server_name="/gripper_control" server_timeout="10" cancel_timeout="5" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PostPlacePose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />

            <Action ID="GetPickPlacePoses" ObjectName="box4" GraspDirection="y" PlaceDirection="z" GraspPose="{GraspPose}" PostGraspPose="{PostGraspPose}" PostPostGraspPose="{PostPostGraspPose}" PreGraspPose="{PreGraspPose}" PlacePose="{PlacePose}" PrePlacePose="{PrePlacePose}" PostPlacePose="{PostPlacePose}" server_name="/get_pick_place_pose_service" server_timeout="1000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PreGraspPose}" server_name="/move_topose" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{GraspPose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="GripperControl" pose="close" server_name="/gripper_control" server_timeout="10" cancel_timeout="5" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PostGraspPose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PostPostGraspPose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PrePlacePose}" server_name="/move_topose" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PlacePose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="GripperControl" pose="open" server_name="/gripper_control" server_timeout="10" cancel_timeout="5" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PostPlacePose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />

            <Action ID="GetPickPlacePoses" ObjectName="box5" GraspDirection="y" PlaceDirection="z" GraspPose="{GraspPose}" PostGraspPose="{PostGraspPose}" PostPostGraspPose="{PostPostGraspPose}" PreGraspPose="{PreGraspPose}" PlacePose="{PlacePose}" PrePlacePose="{PrePlacePose}" PostPlacePose="{PostPlacePose}" server_name="/get_pick_place_pose_service" server_timeout="1000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PreGraspPose}" server_name="/move_topose" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{GraspPose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="GripperControl" pose="close" server_name="/gripper_control" server_timeout="10" cancel_timeout="5" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PostGraspPose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PostPostGraspPose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PrePlacePose}" server_name="/move_topose" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PlacePose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="GripperControl" pose="open" server_name="/gripper_control" server_timeout="10" cancel_timeout="5" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PostPlacePose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />

            <Action ID="GetPickPlacePoses" ObjectName="box6" GraspDirection="y" PlaceDirection="z" GraspPose="{GraspPose}" PostGraspPose="{PostGraspPose}" PostPostGraspPose="{PostPostGraspPose}" PreGraspPose="{PreGraspPose}" PlacePose="{PlacePose}" PrePlacePose="{PrePlacePose}" PostPlacePose="{PostPlacePose}" server_name="/get_pick_place_pose_service" server_timeout="1000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PreGraspPose}" server_name="/move_topose" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{GraspPose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="GripperControl" pose="close" server_name="/gripper_control" server_timeout="10" cancel_timeout="5" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PostGraspPose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PostPostGraspPose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PrePlacePose}" server_name="/move_topose" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PlacePose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
            <Action ID="GripperControl" pose="open" server_name="/gripper_control" server_timeout="10" cancel_timeout="5" />
            <Action ID="MoveToPose" robot_name="ur_manipulator_gripper" pose="{PostPlacePose}" server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />

            


        </Sequence>
    </BehaviorTree>

    <TreeNodesModel>
        <Action ID="MoveToPose">
            <input_port name="robot_name" />
            <input_port name="pose_name" />
        </Action>
    </TreeNodesModel>
</root>