Added mg_bt

mg_bt/src/mg_tree_executor.hpp

@@ -0,0 +1,25 @@
+#pragma once
+
+#include "behaviortree_ros2/tree_execution_server.hpp"
+#include "behaviortree_cpp/loggers/bt_cout_logger.h"
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/transform_listener.h"
+#include "glm/glm.hpp"
+
+namespace mg {
+    class MgTreeExecutor : public BT::TreeExecutionServer {
+      public:
+        MgTreeExecutor(const rclcpp::NodeOptions opts);
+        void onTreeCreated(BT::Tree& tree) override;
+        void registerNodesIntoFactory(BT::BehaviorTreeFactory& factory) override;
+
+        std::optional<std::string> onTreeExecutionCompleted(BT::NodeStatus status, bool was_cancelled) override;
+
+        std::pair<glm::vec2, double> position();
+
+      private:
+        std::shared_ptr<BT::StdCoutLogger>          logger_cout_;
+        tf2_ros::Buffer::SharedPtr                  tf_buffer_;
+        std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
+    };
+}