Great work! It looks very interesting.
I have some questions after going through the tutorials:
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Are there ways to include other XML files. It would be useful to define a subtree in a file, and make it reusable for multiple BT.
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If they can be included, you may have problems of name clashing. For instance multiple independent subtrees use the same identifiers, such as
<MoveBase goal="${TargetPose}"/>and<LookAt pose="${TargetPose}"/>, is there any way of address this problem?
We have faced this issue with our HFSM system, and we’ve had to implement remapping of identifiers and namespaces to avoid clashing.