<?xml version="1.0"?><rootmain_tree_to_execute="BehaviorTree"><!-- //////////-->    <BehaviorTreeID="BehaviorTree">        <Sequence>            <SubTreeID="ScanSubTree"__shared_blackboard="true"drone_id="drone_1"/>            <ActionID="ReturnToLaunch"drone_id="drone_1"flight_speed="1.0"obstacle_avoidance_required="false"rtk_fixed_required="false"smooth_path_required="true"use_global_planner="false"use_px4_rtl="false"/>        </Sequence>    </BehaviorTree><!-- //////////-->    <BehaviorTreeID="ScanSubTree">        <Sequence>            <ActionID="Takeoff"drone_id="drone_0"target_altitude="4"/>            <ActionID="ScanGPSPoints"drone_id="drone_0"flight_env_id="field_1"flight_speed="1.0"mission_id="test.json"obstacle_avoidance_required="false"rtk_fixed_required="false"smooth_path_required="false"use_global_planner="false"/>        </Sequence>    </BehaviorTree><!-- //////////-->    <TreeNodesModel>        <ActionID="AbortTakeoffAndLand"/>        <ActionID="AdjustGimbalAngle"/>        <ConditionID="AreAllSensorsOperational"/>        <ConditionID="AreDiagnosticsPassed"/>        <ConditionID="AreMotorsFunctional"/>        <ConditionID="AreSensorsFunctional"/>        <ActionID="ArmDrone"/>        <ActionID="Ascend"/>        <ConditionID="AtDestination"/>        <ActionID="AvoidObstacle"/>        <ConditionID="CanHover"/>        <ConditionID="CanPickupCargo"/>        <ActionID="CaptureImage">            <input_portdefault="F"name="camera_id"/>            <input_portdefault="drone_0"name="drone_id"/>            <input_portdefault="5"name="recording_frequency"/>            <input_portdefault="true"name="recording_status"/>        </Action>        <ConditionID="CargoDetected"/>        <ConditionID="CargoDropPointReached"/>        <ActionID="CheckBattery"/>        <ConditionID="DataTransmissionFailed"/>        <ConditionID="DataTransmissionSuccessful"/>        <ActionID="Descend"/>        <ActionID="DockAtStation"/>        <ActionID="FixateOnDrone">            <input_portdefault="false"name="activate_follow_target"/>            <input_portdefault="drone_0"name="drone_id"/>            <input_portdefault="drone_1"name="target_drone_id"/>        </Action>        <ConditionID="GimbalInPosition"/>        <ActionID="Hold"/>        <ConditionID="IsAMSLAltitudeAvailable"/>        <ConditionID="IsAltitudeIncreasingSteadily"/>        <ConditionID="IsAltitudeStagnantOrDecreasing"/>        <ConditionID="IsAreaClear"/>        <ConditionID="IsBatteryCritical"/>        <ConditionID="IsBatteryLow"/>        <ConditionID="IsBatterySufficient"/>        <ConditionID="IsCameraFunctional"/>        <ConditionID="IsCargoSecured"/>        <ConditionID="IsDockingStationAvailable"/>        <ConditionID="IsGPSLockAvailable"/>        <ConditionID="IsGimbalFunctional"/>        <ConditionID="IsImageCaptured"/>        <ConditionID="IsInAir"/>        <ConditionID="IsLanded"/>        <ConditionID="IsLandingAreaClear"/>        <ConditionID="IsMovingPlatformDetected"/>        <ConditionID="IsPointInsideOperationalBoundary"/>        <ConditionID="IsPointWithinSafeBoundary"/>        <ConditionID="IsRecording"/>        <ConditionID="IsSignalStrong"/>        <ConditionID="IsTakeoffAreaClear"/>        <ConditionID="IsTargetInSight"/>        <ConditionID="IsTerrainFollowable"/>        <ConditionID="IsZoomLimitReached"/>        <ActionID="Land">            <input_portdefault="drone_0"name="drone_id"/>        </Action>        <ActionID="LandOnMovingPlatform"/>        <ActionID="LockGimbal">            <input_portdefault="0.0"name="altitude"/>            <input_portdefault="drone_0"name="drone_id"/>            <input_portdefault="F"name="gimbal_id"/>            <input_portdefault="false"name="gimbal_locker_status"/>            <input_portdefault="0.0"name="latitude"/>            <input_portdefault="0.0"name="longitude"/>        </Action>        <ConditionID="LostTarget"/>        <ActionID="MoveBackward"/>        <ActionID="MoveForward"/>        <ActionID="MoveLeft"/>        <ActionID="MoveRight"/>        <ActionID="NavigateToPoint"/>        <ConditionID="ObstacleDetected"/>        <ConditionID="PathClear"/>        <ConditionID="PathObstructed"/>        <ConditionID="ReachedMaxAltitude"/>        <ConditionID="ReachedMinAltitude"/>        <ConditionID="ReachedTargetAltitude"/>        <ConditionID="ReceivedDataFromBase"/>        <ActionID="RecordBag">            <input_portdefault="rosbag"name="bag_name">the name of the recorded rosbag</input_port>            <input_portdefault="false"name="bag_recording_status">start or stop recording the roasbag</input_port>            <input_portdefault="300"name="duration_s">duration of record</input_port>            <input_portdefault="false"name="image_recording_status">includes or excludes image topics</input_port>        </Action>        <ActionID="RetreatFromThreat"/>        <ActionID="ReturnToLaunch">            <input_portdefault="drone_0"name="drone_id">drone namespace in ROS</input_port>            <input_portdefault="1.0"name="flight_speed">maximum horizontal flight speed.</input_port>            <input_portdefault="false"name="obstacle_avoidance_required"/>            <input_portdefault="false"name="rtk_fixed_required">Won't execute the RTL Action unless the gps status is rtk_fixed. Signinficant effect on the flight stability.</input_port>            <input_portdefault="true"name="smooth_path_required"/>            <input_portdefault="false"name="use_global_planner"/>            <input_portdefault="false"name="use_px4_rtl">if true, the U-shape PX4 RTL will be used to return the drone to its home position</input_port>        </Action>        <ActionID="SIYICaptureImages">            <input_portdefault="drone_0"name="drone_id"/>            <input_portdefault="10"name="number_of_photos"/>        </Action>        <ActionID="SIYIRecordVideo">            <input_portdefault="drone_0"name="drone_id"/>            <input_portdefault="false"name="recording_status"/>        </Action>        <ActionID="ScanComplete"/>        <ActionID="ScanGPSPoints">            <input_portdefault="drone_0"name="drone_id"/>            <input_portdefault="warren-field"name="flight_env_id"/>            <input_portdefault="1.0"name="flight_speed"/>            <input_portdefault="test.json"name="mission_id"/>            <input_portdefault="false"name="obstacle_avoidance_required"/>            <input_portdefault="false"name="rtk_fixed_required"/>            <input_portdefault="false"name="smooth_path_required"/>            <input_portdefault="false"name="use_global_planner"/>        </Action>        <ActionID="ScanOrbit">            <input_portdefault="drone_0"name="drone_id">this drone will perform the orbit scan</input_port>            <input_portdefault="1.0"name="flight_speed"/>            <input_portdefault="2.0"name="orbit_radius"/>            <input_portdefault="false"name="orbit_scan_state">if set to true, OrbitScan will be activated.</input_port>            <input_portdefault="0.0"name="target_gps_altitude"/>            <input_portdefault="0.0"name="target_gps_latitide"/>            <input_portdefault="0.0"name="target_gps_longitude"/>        </Action>        <SubTreeID="ScanSubTree">            <input_portdefault="true"name="__shared_blackboard">If false (default), the Subtree has an isolated blackboard and needs port remapping</input_port>            <input_portdefault="drone_0"name="drone_id">namespace of the drone in ROS</input_port>        </SubTree>        <ActionID="SendAlertToGroundControl"/>        <ActionID="SetGimbalAngles">            <input_portdefault="0.0"name="angle_pitch">from -90 to 20</input_port>            <input_portdefault="0.0"name="angle_roll"> No active</input_port>            <input_portdefault="0.0"name="angle_yaw">from -120 to 120</input_port>            <input_portdefault="drone_0"name="drone_id"/>            <input_portdefault="AirSim"name="gimbal_id">Real Drone: A8  || Simulation: AirSim</input_port>        </Action>        <ActionID="StartRecordingVideo"/>        <ActionID="StartScanning"/>        <ActionID="StopRecordingVideo"/>        <ActionID="StopScanning"/>        <ActionID="Takeoff">            <input_portdefault="drone_0"name="drone_id"/>            <input_portdefault="4"name="target_altitude"/>        </Action>        <ConditionID="ThreatDetected"/>        <ActionID="UpdateMap">            <input_portdefault="v.0"name="map_version">Changes the OBJ map version</input_port>        </Action>        <ActionID="YawLeft"/>        <ActionID="YawRight"/>        <ActionID="ZoomInCamera"/>        <ActionID="ZoomOutCamera"/>        <ActionID="start_recording_img">            <input_portdefault="F"name="camera_id">F: Front, D: Down, B: Back, T: ThermalCam, N: NightCam</input_port>            <input_portdefault="drone_0"name="drone_id"/>            <input_portdefault="2"name="recording_frequency"/>        </Action>        <ActionID="stop_recording_img">            <input_portdefault="F"name="camera_id"/>            <input_portdefault="drone_0"name="drone_id"/>            <input_portname="recording_frequency"/>        </Action>    </TreeNodesModel><!-- //////////--></root>