runtime/rbs_bt_executor/bt_trees/test_tree_main.xml

<?xml version="1.0"?>
<root main_tree_to_execute="MainTree">
    <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>