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Description
To implement runing planning and control in parallel, I'd like to be able to use the ParallelNode in an XML description, something like this:
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<SequenceStar name="root">
<ComputePathToPose endpoints="${endpoints}" path="${path}"/>
<Parallel threshold_M="1">
<FollowPath path="${path}"/>
<Sequence>
<RateController hz="2">
<ComputePathToPose endpoints="${endpoints}" path="${path}"/>
</RateController>
<UpdatePath/>
</Sequence>
</Parallel>
</SequenceStar>
</BehaviorTree>
</root>
However, because the ParallelNode has the following signature:
BT::ParallelNode::ParallelNode(const std::string& name, int threshold_M)
it can't be registered and used in an XML description of the tree. I've worked around this for now by making the threshold value have a default value.
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