From 94f968a6e8a75f7f3ead6fa50120fc67a45f7855 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Irene=20Gonz=C3=A1lez=20Fern=C3=A1ndez?=
 <igonzf06@estudiantes.unileon.es>
Date: Tue, 9 Jul 2024 11:10:36 +0200
Subject: [PATCH] add isDoorOpen to gpsr

---
 robocup_bringup/bt_xml/gpsr.xml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/robocup_bringup/bt_xml/gpsr.xml b/robocup_bringup/bt_xml/gpsr.xml
index 59ec427..102f8dc 100644
--- a/robocup_bringup/bt_xml/gpsr.xml
+++ b/robocup_bringup/bt_xml/gpsr.xml
@@ -4,6 +4,10 @@
             <Action ID="SetupGPSR" plugins="{plugins}"/>
             <!-- <Action ID="SetStartPosition" frame_name="instruction point" /> -->
             <Action ID="SetWp"/>
+            <RetryUntilSuccessful num_attempts="-1">
+                <Condition ID="IsDoorOpen" door_thfloatreshold="1.5"/>
+            </RetryUntilSuccessful>
+            <Action ID="MoveTo" tf_frame="instruction_point"/>
             <Action ID="Speak" say_text="Hi, This is gentlebots." param=""/>
             <Repeat num_cycles="3">
                 <Sequence>