#include <iostream>

#include "mg_tree_executor.hpp"

int main(const int argc, const char** argv) {
    rclcpp::init(argc, argv);

    std::cout << "Starting up Behavior Tree Executor" << std::endl;

    rclcpp::NodeOptions options;

    auto bt_exec_server = std::make_shared<mg::MgTreeExecutor>(options);

    rclcpp::executors::MultiThreadedExecutor executor(
      rclcpp::ExecutorOptions(), 0, false, std::chrono::milliseconds(250));

    executor.add_node(bt_exec_server->node());
    executor.spin();
    executor.remove_node(bt_exec_server->node());

    rclcpp::shutdown();
    return 0;
}