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