Odometry Calibration

This behavior tree drives the robot in a CCW square three times using the DriveOnHeading and Spin behaviors. The robot will traverse each side of the square at 0.2 (m/s) for 2 meters before making a 90 degree turn. This is a primitive experiment to measure odometric accuracy and can be used and repeated to tune parameters related to odometry to improve quality.

Alternative text 
<root main_tree_to_execute="MainTree">
  <BehaviorTree ID="MainTree">
    <Repeat num_cycles="3">
      <Sequence name="Drive in a square">
        <DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
        <Spin spin_dist="1.570796" is_recovery="false"/>
        <DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
        <Spin spin_dist="1.570796" is_recovery="false"/>
        <DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
        <Spin spin_dist="1.570796" is_recovery="false"/>
        <DriveOnHeading dist_to_travel="2.0" speed="0.2" time_allowance="12"/>
        <Spin spin_dist="1.570796" is_recovery="false"/>
      </Sequence>
    </Repeat>
  </BehaviorTree>
</root>