Added mg_bt

mg_bt/src/tree_nodes/zero.hpp

@@ -0,0 +1,20 @@
+#pragma once
+
+#include "behaviortree_ros2/bt_service_node.hpp"
+#include "std_srvs/srv/empty.hpp"
+
+namespace mg {
+
+    class ZeroNode : public BT::RosServiceNode<std_srvs::srv::Empty> {
+      public:
+        ZeroNode(const std::string& name, const BT::NodeConfig& conf, const BT::RosNodeParams& params) :
+          BT::RosServiceNode<std_srvs::srv::Empty>(name, conf, params) { }
+
+        bool setRequest(typename Request::SharedPtr&) override { return true; }
+
+        BT::NodeStatus onResponseReceived(const typename Response::SharedPtr&) override {
+            return BT::NodeStatus::SUCCESS;
+        }
+    };
+
+}