comments

opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage_nav_to_start.xml

@@ -1,5 +1,5 @@
 <!--
-  This Behavior Tree computes a complete coverage path over a selected space, then follows it.
+  This Behavior Tree computes a complete coverage path over a selected space, navigates to the start point of the path, then follows the coverage path.
   Can also take the coverage_path instead of Nav Path for segmented swaths from turns
   for changes in operational modes (e.g. raise tool, turn off payload in turns not in field).
 
@@ -18,10 +18,16 @@
         <!-- May use:
          'polygons="{field_polygon}" polygons_frame_id="{polygon_frame_id}"' if set polygon via NavigateCompleteCoverage
          or file_field="{field_filepath}" if setting polygon file via NavigateCompleteCoverage -->
+
+         <!-- Compute path to cover fields -->
         <ComputeCoveragePath nav_path="{path}" polygons="{field_polygon}" polygons_frame_id="{polygon_frame_id}" error_code_id="{compute_coverage_error_code}"/>
+
+        <!-- Go to start of path before navigating -->
         <GetPoseFromPath path="{path}" pose="{start_pose}" index="0" />
         <ComputePathToPose goal="{start_pose}" path="{path_to_start}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
         <FollowPath path="{path_to_start}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+
+        <!-- Follow computed path -->
         <FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
       </Sequence>
     </RateController>