Add behavior for i2cnode and choosing side

mg_bt/src/mg_tree_executor.cpp

@@ -2,6 +2,7 @@
 
 #include "behaviortree_cpp/xml_parsing.h"
 #include "tree_nodes/calib.hpp"
+#include "tree_nodes/choose_tactic.hpp"
 #include "tree_nodes/i2c.hpp"
 #include "tree_nodes/move_point.hpp"
 #include "tree_nodes/rotate.hpp"
@@ -30,6 +31,7 @@ namespace mg {
         factory.registerNodeType<mg::ZeroNode>("ZeroNode", node());
         factory.registerNodeType<mg::I2cNode>("I2CSignal", node());
         factory.registerNodeType<mg::SidePub>("SideObstaclePub", node());
+        factory.registerNodeType<mg::TacticsChooser>("TacticChooser");
         factory.registerNodeType<mg::CalibWidthNode>("CalibWidth", node(), [this]() { return this->position(); });
     }