SafetyBT.btproj

<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4" project_name="SafetyBT">
    <include path="safety.xml"/>
    <include path="shutdown.xml"/>
    <!-- Description of Node Models (used by Groot) -->
    <TreeNodesModel>
        <Action ID="CallSetBoolService" editable="true">
            <input_port name="data">true / false value</input_port>
            <input_port name="service_name">ROS service name</input_port>
        </Action>
        <Action ID="CallTriggerService" editable="true">
            <input_port name="service_name">ROS service name</input_port>
        </Action>
        <Action ID="ExecuteCommand" editable="true">
            <input_port name="command">command to execute</input_port>
            <input_port name="timeout">command timeout in seconds</input_port>
        </Action>
        <Action ID="ShutdownHostsFromFile" editable="true">
            <input_port name="shutdown_hosts_file">global path to YAML file with hosts to shutdown</input_port>
        </Action>
        <Action ID="SignalShutdown" editable="true">
            <input_port name="reason">reason to shutdown robot</input_port>
        </Action>
        <Decorator ID="TickAfterTimeout" editable="true">
            <input_port name="timeout">time in s to wait before ticking child again</input_port>
        </Decorator>
    </TreeNodesModel>
</root>