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