Add behavior for i2cnode and choosing side

mg_bt/behavior_trees/tactics_blue.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<root BTCPP_format="4">
+  <BehaviorTree ID="tactic_base">
+    <SideObstaclePub tactic="1"
+                     topic_name="/side"/>
+  </BehaviorTree>
+
+  <!-- Description of Node Models (used by Groot) -->
+  <TreeNodesModel>
+    <Condition ID="SideObstaclePub">
+      <input_port name="tactic"
+                  type="int"/>
+      <input_port name="topic_name"
+                  default="__default__placeholder__"
+                  type="std::string">Topic name</input_port>
+    </Condition>
+  </TreeNodesModel>
+
+</root>