bt_nav_mememan_interrupt.xml

<root main_tree_to_execute = "MainTree">
    <BehaviorTree ID="MainTree">
        <Sequence>
            <SetBlackboard output_key="Goal_a" value="-0.579;-1.341;0.0;1.0" />
            <SetBlackboard output_key="Goal_b" value="5.214;-1.533;0.0;1.0" />
            <SetBlackboard output_key="Goal_c" value="-1.588;1.253;0.0;1.0" />
            <Fallback>
                <ReactiveSequence>
                    <InterruptEvent event="gohome"/>
                    <Repeat num_cycles="10">
                        <Sequence>
                            <SubTree ID="MoveRobot" target="Goal_a" />
                            <SubTree ID="MoveRobot" target="Goal_b" />
                        </Sequence>
                    </Repeat>
                </ReactiveSequence>
                <Sequence>
                    <SubTree ID="MoveRobot" target="Goal_c" />
                </Sequence>
            </Fallback>
        </Sequence>
    </BehaviorTree>

    <BehaviorTree ID="MoveRobot">
        <Sequence name="SetGoal">
            <MoveBase goal="{target}" />
        </Sequence>
    </BehaviorTree>
</root>