WIP: BT Implementation

[alyzenjeraj]

This is a WORK IN PROGRESS

Planned Tree Flow

flowchart TD
  A([MainTree])
  A --> B[Sequence: main_sequence]

  B --> C[GetHDMapInfo\nwrites: current_point, goal_point]

  C --> D[Parallel: monitor_and_control\nsuccess_threshold=1\nfailure_threshold=1]

  %% monitor branch
  D --> E[MonitorTrafficLights\nwrites: traffic_light_state]

  %% plan-or-follow branch
  D --> F[Fallback: plan_or_follow]

  %% follow sequence
  F --> G[Sequence: follow_sequence]
  G --> H[CheckHaveValidTrajectory\nreads: have_valid_trajectory]
  G --> I[ExecuteTrajectory\nreads: planned_path]

  %% plan sequence
  F --> J[Sequence: plan_sequence]
  J --> K[RequestRoute\nreads: goal_point]
  J --> L[WaitForRoute\n2000 ms]
  J --> M[RunPlanner\nreads: current_point, goal_point\nwrites: planned_path]
  J --> N[ValidateTrajectory\nreads: planned_path\nwrites: trajectory_ok]
  J --> O[ExecuteTrajectory\nreads: planned_path]

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📑 Description

📹 (Optional) Video Demo of Changes

✅ Checklist

• My code builds and runs locally without warnings
• I added/updated tests if needed
• I updated documentation / comments
• I listed any breaking changes in the “Notes” section

🔗 Related Issues / PRs

Fixes #123
Depends on #456

📝 Notes for reviewers