#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;
        }
    };

}