Added behavior that publishes tactic id

mg_bt/src/tree_nodes/side_pub.hpp

@@ -0,0 +1,22 @@
+#include "behaviortree_ros2/bt_topic_pub_node.hpp"
+#include "std_msgs/msg/string.hpp"
+
+namespace mg {
+
+    class SidePub : public BT::RosTopicPubNode<std_msgs::msg::String> {
+      public:
+        SidePub(const std::string& name, const BT::NodeConfig& conf, const BT::RosNodeParams& params) :
+          BT::RosTopicPubNode<std_msgs::msg::String>(name, conf, params) { }
+
+        static BT::PortsList providedPorts() { return providedBasicPorts({ BT::InputPort<int>("tactic") }); }
+
+        bool setMessage(std_msgs::msg::String& msg) override {
+            if (getInput<int>("tactic").has_value()) {
+                msg.data = (getInput<int>("tactic").value() % 2 == 0) ? "/blue-side.json" : "/yellow-side.json";
+                return true;
+            } else {
+                return false;
+            }
+        }
+    };
+}