Added initial batch of behaviors

toid_bt/CMakeLists.txt

@@ -0,0 +1,62 @@
+cmake_minimum_required(VERSION 3.8)
+project(toid_bt)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+set(PACKAGE_DEPS
+  rclcpp
+  angles
+  behaviortree_cpp
+  behaviortree_ros2
+  btcpp_ros2_interfaces
+  nav2_util
+  tf2
+  tf2_ros
+  tf2_geometry_msgs
+  geometry_msgs
+  toid_msgs
+  std_msgs
+  std_srvs
+)
+
+foreach(PACKAGE ${PACKAGE_DEPS})
+  find_package(${PACKAGE} REQUIRED)
+endforeach()
+
+set(SOURCES
+    src/bt_executor.cpp
+)
+
+add_executable(toid_bt ${SOURCES})
+
+target_include_directories(
+  toid_bt
+  PRIVATE
+  include
+)
+
+ament_target_dependencies(toid_bt ${PACKAGE_DEPS})
+
+install(TARGETS toid_bt DESTINATION lib/${PROJECT_NAME})
+
+install(
+  DIRECTORY 
+    launch 
+    params
+    behavior_trees
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+target_compile_features(
+  toid_bt PUBLIC
+  c_std_99
+  cxx_std_17
+)
+
+
+ament_package()
+

toid_bt/LICENSE

@@ -0,0 +1,202 @@
+
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toid_bt/behavior_trees/behavior1.xml

@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<root BTCPP_format="4">
+  <BehaviorTree ID="test_1">
+    <Sequence>
+      <RotateSimple angle="90"
+                    radians="false"
+                    min_angle="0.000000"
+                    action_name=""/>
+      <Sleep msec="1000"/>
+      <RotateSimple angle="0"
+                    radians="false"
+                    min_angle="0.000000"
+                    action_name=""/>
+    </Sequence>
+  </BehaviorTree>
+
+  <!-- Description of Node Models (used by Groot) -->
+  <TreeNodesModel>
+    <Action ID="RotateSimple">
+      <input_port name="angle"
+                  type="double"/>
+      <input_port name="radians"
+                  default="false"
+                  type="bool"/>
+      <input_port name="min_angle"
+                  default="0.000000"
+                  type="double"/>
+      <input_port name="action_name"
+                  type="std::string">Action server name</input_port>
+    </Action>
+  </TreeNodesModel>
+
+</root>

toid_bt/behavior_trees/calibration_routines.xml

@@ -0,0 +1,53 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<root BTCPP_format="4">
+  <BehaviorTree ID="wheel_ratio_calibration">
+    <Sequence>
+      <Delay delay_msec="5000">
+        <ZeroOdom service_name=""/>
+      </Delay>
+      <MovePointSimple x="1.0"
+                       y="0"
+                       theta="0"
+                       action_name=""/>
+      <RotateSimple angle="180"
+                    radians="false"
+                    min_angle="0.000000"
+                    action_name=""/>
+      <MovePointSimple x="0.4"
+                       y="0"
+                       theta="180"
+                       action_name=""/>
+    </Sequence>
+  </BehaviorTree>
+
+  <!-- Description of Node Models (used by Groot) -->
+  <TreeNodesModel>
+    <Action ID="MovePointSimple">
+      <input_port name="x"
+                  type="double"/>
+      <input_port name="y"
+                  type="double"/>
+      <input_port name="theta"
+                  type="double"/>
+      <input_port name="action_name"
+                  type="std::string">Action server name</input_port>
+    </Action>
+    <Action ID="RotateSimple">
+      <input_port name="angle"
+                  type="double"/>
+      <input_port name="radians"
+                  default="false"
+                  type="bool"/>
+      <input_port name="min_angle"
+                  default="0.000000"
+                  type="double"/>
+      <input_port name="action_name"
+                  type="std::string">Action server name</input_port>
+    </Action>
+    <Action ID="ZeroOdom">
+      <input_port name="service_name"
+                  type="std::string">Service name</input_port>
+    </Action>
+  </TreeNodesModel>
+
+</root>

toid_bt/behavior_trees/toid_behaviors.btproj

@@ -0,0 +1,39 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<root BTCPP_format="4" project_name="Project">
+    <include path="behavior1.xml"/>
+    <include path="calibration_routines.xml"/>
+    <!-- Description of Node Models (used by Groot) -->
+    <TreeNodesModel>
+        <Action ID="EndCalib">
+            <input_port name="service_name" type="std::string">Service name</input_port>
+        </Action>
+        <Action ID="MovePointSimple">
+            <input_port name="x" type="double"/>
+            <input_port name="y" type="double"/>
+            <input_port name="theta" type="double"/>
+            <input_port name="action_name" type="std::string">Action server name</input_port>
+        </Action>
+        <Action ID="RotateSimple">
+            <input_port name="angle" type="double"/>
+            <input_port name="radians" default="false" type="bool"/>
+            <input_port name="min_angle" default="0.000000" type="double"/>
+            <input_port name="action_name" type="std::string">Action server name</input_port>
+        </Action>
+        <Action ID="RotateTowards">
+            <input_port name="x" type="double"/>
+            <input_port name="y" type="double"/>
+            <input_port name="radians" default="false" type="bool"/>
+            <input_port name="min_angle" default="0.000000" type="double"/>
+            <input_port name="action_name" type="std::string">Action server name</input_port>
+        </Action>
+        <Action ID="SetWidth">
+            <input_port name="width" type="double"/>
+            <input_port name="count" default="1" type="int"/>
+            <output_port name="new_width" type="double"/>
+            <input_port name="service_name" type="std::string">Service name</input_port>
+        </Action>
+        <Action ID="ZeroOdom">
+            <input_port name="service_name" type="std::string">Service name</input_port>
+        </Action>
+    </TreeNodesModel>
+</root>

toid_bt/include/toid_bt/bt_executor.hpp

@@ -0,0 +1,34 @@
+#pragma once
+#include "rclcpp/rclcpp.hpp"
+
+#include "behaviortree_ros2/tree_execution_server.hpp"
+#include "behaviortree_cpp/loggers/bt_cout_logger.h"
+
+#include "tf2_ros/buffer.hpp"
+#include "tf2_ros/transform_listener.hpp"
+
+#include "geometry_msgs/msg/pose_stamped.hpp"
+
+namespace toid {
+    class TreeExecutor : public BT::TreeExecutionServer {
+      public:
+        TreeExecutor(const rclcpp::NodeOptions opts);
+        void onTreeCreated(BT::Tree& tree) override;
+        
+        void registerNodesIntoFactory(BT::BehaviorTreeFactory& factory) override;
+
+        std::optional<std::string> onTreeExecutionCompleted(BT::NodeStatus status, bool was_cancelled) override;
+
+        void position(geometry_msgs::msg::PoseStamped &pose);
+
+        std::string describeCustomNodes();
+
+      private:
+        std::shared_ptr<BT::StdCoutLogger>          logger_cout_;
+        tf2_ros::Buffer::SharedPtr                  tf_buffer_;
+        std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
+
+        std::string base_frame_;
+        std::string global_frame_;
+    };
+}

toid_bt/include/toid_bt/plugin.hpp

@@ -0,0 +1,8 @@
+#pragma once
+#include <functional>
+
+#include "geometry_msgs/msg/pose_stamped.hpp"
+
+namespace toid {
+    using PoseFunc = std::function<void(geometry_msgs::msg::PoseStamped &)>;
+}

toid_bt/include/toid_bt/plugins/empty_srv_action.hpp

@@ -0,0 +1,30 @@
+#pragma once
+
+#include "angles/angles.h"
+#include "behaviortree_ros2/bt_service_node.hpp"
+#include "std_srvs/srv/empty.hpp"
+#include "tf2/utils.hpp"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#include "toid_bt/plugin.hpp"
+
+namespace toid
+{
+
+class EmptySrvNode : public BT::RosServiceNode<std_srvs::srv::Empty>
+{
+public:
+  EmptySrvNode(
+    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;
+  }
+};
+
+}  // namespace toid

toid_bt/include/toid_bt/plugins/end_calib_action.hpp

@@ -0,0 +1,56 @@
+#pragma once
+
+#include "angles/angles.h"
+#include "behaviortree_ros2/bt_service_node.hpp"
+#include "tf2/utils.hpp"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#include "toid_bt/plugin.hpp"
+#include "toid_msgs/srv/send_double.hpp"
+
+namespace toid
+{
+
+class EndCalibNode : public BT::RosServiceNode<toid_msgs::srv::SendDouble>
+{
+public:
+  EndCalibNode(
+    const std::string & name, const BT::NodeConfig & conf, const BT::RosNodeParams & params,
+    PoseFunc pose)
+  : BT::RosServiceNode<toid_msgs::srv::SendDouble>(name, conf, params), get_pose(pose)
+  {
+  }
+
+  static BT::PortsList providedPorts()
+  {
+    return providedBasicPorts({
+      BT::InputPort<double>("width"), BT::InputPort<int>("count", 1, {}),
+      BT::OutputPort<double>("new_width"),
+      //BT::InputPort<double>("options"),
+    });
+  }
+
+  bool setRequest(typename Request::SharedPtr & request) override
+  {
+    auto width = getInput<double>("width").value();
+    auto count = getInput<double>("count").value();
+
+    geometry_msgs::msg::PoseStamped pose;
+    get_pose(pose);
+
+    double theta = tf2::getYaw(pose.pose.orientation);
+    double new_width = width * (1 + (theta / (2 * M_PI * count)));
+    request->data = new_width;
+
+    setOutput("new_width", new_width);
+    return true;
+  }
+
+  BT::NodeStatus onResponseReceived(const typename Response::SharedPtr &) override
+  {
+    return BT::NodeStatus::SUCCESS;
+  }
+
+  PoseFunc get_pose;
+};
+
+}  // namespace toid

toid_bt/include/toid_bt/plugins/move_coords_action.hpp

@@ -0,0 +1,65 @@
+#pragma once
+
+#include "angles/angles.h"
+#include "behaviortree_ros2/bt_action_node.hpp"
+#include "tf2/utils.hpp"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#include "toid_bt/plugin.hpp"
+#include "toid_msgs/action/simple_move_coords.hpp"
+
+namespace toid
+{
+
+class MovePointNode : public BT::RosActionNode<toid_msgs::action::SimpleMoveCoords>
+{
+public:
+  MovePointNode(
+    const std::string & name, const BT::NodeConfig & conf, const BT::RosNodeParams & params,
+    PoseFunc pose)
+  : BT::RosActionNode<toid_msgs::action::SimpleMoveCoords>(name, conf, params), get_pose(pose)
+  {
+    std::cout << "wtf? " << params.default_port_value << std::endl;
+  }
+
+  static BT::PortsList providedPorts()
+  {
+    return providedBasicPorts({
+      BT::InputPort<double>("x"), BT::InputPort<double>("y"), BT::InputPort<double>("theta"),
+      //BT::InputPort<double>("options"),
+    });
+  }
+
+  bool setGoal(Goal & goal) override
+  {
+    auto x_goal = getInput<double>("x");
+    auto y_goal = getInput<double>("y");
+    auto theta = getInput<double>("theta");
+    goal.x = x_goal.value();
+    goal.y = y_goal.value();
+    if (!theta.has_value()) {
+      geometry_msgs::msg::PoseStamped pose;
+      get_pose(pose);
+      goal.theta = tf2::getYaw(pose.pose.orientation);
+    } else {
+      goal.theta = angles::from_degrees(theta.value_or(0));
+    }
+    return true;
+  }
+
+  void onHalt() override { RCLCPP_INFO(logger(), "%s: onHalt", name().c_str()); }
+
+  BT::NodeStatus onResultReceived(const WrappedResult & wr) override
+  {
+    return (wr.result->error_code == 0) ? BT::NodeStatus::SUCCESS : BT::NodeStatus::FAILURE;
+  }
+
+  BT::NodeStatus onFailure(BT::ActionNodeErrorCode error) override
+  {
+    RCLCPP_ERROR(logger(), "%s: onFailure with error: %s", name().c_str(), toStr(error));
+    return BT::NodeStatus::FAILURE;
+  }
+
+  PoseFunc get_pose;
+};
+
+}  // namespace toid

toid_bt/include/toid_bt/plugins/rotate_action.hpp

@@ -0,0 +1,63 @@
+#pragma once
+
+#include "angles/angles.h"
+#include "behaviortree_ros2/bt_action_node.hpp"
+#include "tf2/utils.hpp"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#include "toid_bt/plugin.hpp"
+#include "toid_msgs/action/simple_rotate.hpp"
+
+namespace toid
+{
+
+class RotateNode : public BT::RosActionNode<toid_msgs::action::SimpleRotate>
+{
+public:
+  RotateNode(
+    const std::string & name, const BT::NodeConfig & conf, const BT::RosNodeParams & params,
+    PoseFunc pose)
+  : BT::RosActionNode<toid_msgs::action::SimpleRotate>(name, conf, params), get_pose(pose)
+  {
+  }
+
+  static BT::PortsList providedPorts()
+  {
+    return providedBasicPorts({
+      BT::InputPort<double>("angle", {}), 
+      BT::InputPort<double>("min_angle", 0, {}),
+      BT::InputPort<bool>("radians", false, {}),
+      //BT::InputPort<double>("options"),
+    });
+  }
+
+  bool setGoal(Goal & goal) override
+  {
+    auto angle = getInput<double>("angle");
+    auto min_angle = getInput<double>("min_angle");
+    auto radians = getInput<bool>("radians");
+    goal.angle = angle.value();
+    goal.min_angle = min_angle.value();
+    if (!radians.value()) {
+      goal.angle = angles::from_degrees(goal.angle);
+      goal.min_angle = angles::from_degrees(goal.min_angle);
+    }
+    return true;
+  }
+
+  void onHalt() override { RCLCPP_INFO(logger(), "%s: onHalt", name().c_str()); }
+
+  BT::NodeStatus onResultReceived(const WrappedResult & wr) override
+  {
+    return (wr.result->error_code == 0) ? BT::NodeStatus::SUCCESS : BT::NodeStatus::FAILURE;
+  }
+
+  BT::NodeStatus onFailure(BT::ActionNodeErrorCode error) override
+  {
+    RCLCPP_ERROR(logger(), "%s: onFailure with error: %s", name().c_str(), toStr(error));
+    return BT::NodeStatus::FAILURE;
+  }
+
+  PoseFunc get_pose;
+};
+
+}  // namespace toid

toid_bt/include/toid_bt/plugins/rotate_towards_action.hpp

@@ -0,0 +1,70 @@
+#pragma once
+
+#include "angles/angles.h"
+#include "behaviortree_ros2/bt_action_node.hpp"
+#include "tf2/utils.hpp"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#include "toid_bt/plugin.hpp"
+#include "toid_msgs/action/simple_rotate.hpp"
+
+namespace toid
+{
+
+class RotateTowardsNode : public BT::RosActionNode<toid_msgs::action::SimpleRotate>
+{
+public:
+  RotateTowardsNode(
+    const std::string & name, const BT::NodeConfig & conf, const BT::RosNodeParams & params,
+    PoseFunc pose)
+  : BT::RosActionNode<toid_msgs::action::SimpleRotate>(name, conf, params), get_pose(pose)
+  {
+  }
+
+  static BT::PortsList providedPorts()
+  {
+    return providedBasicPorts({
+      BT::InputPort<double>("x", {}), 
+      BT::InputPort<double>("y", {}), 
+      BT::InputPort<double>("min_angle", 0, {}),
+      BT::InputPort<bool>("radians", false, {}),
+      //BT::InputPort<double>("options"),
+    });
+  }
+
+  bool setGoal(Goal & goal) override
+  {
+    auto x = getInput<double>("x").value();
+    auto y = getInput<double>("y").value();
+    auto min_angle = getInput<double>("min_angle");
+    auto radians = getInput<bool>("radians");
+
+    geometry_msgs::msg::PoseStamped pose;
+    get_pose(pose);
+
+    goal.angle = std::atan2(y - pose.pose.position.y, x - pose.pose.position.x);
+    goal.min_angle = min_angle.value();
+
+    if (!radians.value()) {
+      goal.min_angle = angles::from_degrees(goal.min_angle);
+    }
+
+    return true;
+  }
+
+  void onHalt() override { RCLCPP_INFO(logger(), "%s: onHalt", name().c_str()); }
+
+  BT::NodeStatus onResultReceived(const WrappedResult & wr) override
+  {
+    return (wr.result->error_code == 0) ? BT::NodeStatus::SUCCESS : BT::NodeStatus::FAILURE;
+  }
+
+  BT::NodeStatus onFailure(BT::ActionNodeErrorCode error) override
+  {
+    RCLCPP_ERROR(logger(), "%s: onFailure with error: %s", name().c_str(), toStr(error));
+    return BT::NodeStatus::FAILURE;
+  }
+
+  PoseFunc get_pose;
+};
+
+}  // namespace toid

toid_bt/launch/bt.launch.py

@@ -0,0 +1,41 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+from launch.substitutions import Command, LaunchConfiguration, IfElseSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+import os
+
+def generate_launch_description():
+
+    pkg_share = FindPackageShare("").find('toid_bt')
+    bt_params = os.path.join(pkg_share, 'params', 'bt_params.yaml')
+
+    visualize = LaunchConfiguration("visualize")
+    visualize_arg = DeclareLaunchArgument(
+        'visualize',
+        default_value='False',
+        description="Whether to launch rviz2" 
+    )
+
+    use_mock = LaunchConfiguration("use_mock")
+    use_mock_arg = DeclareLaunchArgument(
+        'use_mock',
+        default_value='True',
+        description="Whether to use mock controller" 
+    )
+
+    bt_executor = Node(
+        package='toid_bt',
+        executable='toid_bt',
+        output='screen',
+        emulate_tty=True,
+        parameters=[bt_params],
+    )
+
+    return LaunchDescription([
+        visualize_arg,
+        use_mock_arg,
+        bt_executor,
+    ])
+

toid_bt/package.xml

@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>toid_bt</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="82343504+pimpest@users.noreply.github.com">pimpest</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>angles</depend>
+  <depend>behaviortree_ros2</depend>
+  <depend>btcpp_ros2_interfaces</depend>
+  <depend>nav2_util</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>toid_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>std_srvs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

toid_bt/params/bt_params.yaml

@@ -0,0 +1,9 @@
+toid_bt:
+  ros__parameters:
+    action_name: "bt_run" 
+    tick_frequency: 100
+    groot2_port: 8420
+    ros_plugins_timeout: 1000
+
+    behavior_trees:
+      - toid_bt/behavior_trees

toid_bt/src/bt_executor.cpp

@@ -0,0 +1,103 @@
+#include "toid_bt/bt_executor.hpp"
+
+#include "behaviortree_cpp/xml_parsing.h"
+#include "nav2_util/node_utils.hpp"
+#include "nav2_util/robot_utils.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "toid_bt/plugins/empty_srv_action.hpp"
+#include "toid_bt/plugins/end_calib_action.hpp"
+#include "toid_bt/plugins/move_coords_action.hpp"
+#include "toid_bt/plugins/rotate_action.hpp"
+#include "toid_bt/plugins/rotate_towards_action.hpp"
+
+namespace toid
+{
+TreeExecutor::TreeExecutor(const rclcpp::NodeOptions opts)
+: BT::TreeExecutionServer(std::make_shared<rclcpp::Node>("toid_bt", opts))
+{
+  /* 
+  executeRegistration();
+  std::cout << BT::writeTreeNodesModelXML(factory()) << std::endl;
+  tf_buffer_ = std::make_shared<tf2_ros::Buffer>(node()->get_clock());
+  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
+  */
+
+  nav2_util::declare_parameter_if_not_declared(
+    node(), "base_frame", rclcpp::ParameterValue("base_footprint"));
+  node()->get_parameter("base_frame", base_frame_);
+
+  nav2_util::declare_parameter_if_not_declared(
+    node(), "global_frame", rclcpp::ParameterValue("map"));
+  node()->get_parameter("global_frame", global_frame_);
+}
+
+void TreeExecutor::onTreeCreated(BT::Tree & tree)
+{
+  logger_cout_ = std::make_shared<BT::StdCoutLogger>(tree);
+}
+
+void TreeExecutor::registerNodesIntoFactory(BT::BehaviorTreeFactory & factory)
+{
+  PoseFunc get_pose = [this](geometry_msgs::msg::PoseStamped & pose) { this->position(pose); };
+  rclcpp::Node::SharedPtr nh = node();
+  factory.registerNodeType<toid::MovePointNode>(
+    "MovePointSimple", BT::RosNodeParams(nh, "/moveCoords"), get_pose);
+
+  factory.registerNodeType<toid::RotateNode>(
+    "RotateSimple", BT::RosNodeParams(nh, "/rotate"), get_pose);
+
+  factory.registerNodeType<toid::RotateTowardsNode>(
+    "RotateTowards", BT::RosNodeParams(nh, "/rotate"), get_pose);
+
+  factory.registerNodeType<toid::EndCalibNode>(
+    "SetWidth", BT::RosNodeParams(nh, "/set_width"), get_pose);
+
+  factory.registerNodeType<toid::EmptySrvNode>(
+    "ZeroOdom", BT::RosNodeParams(nh, "/zero"));
+
+  factory.registerNodeType<toid::EmptySrvNode>(
+    "EndCalib", BT::RosNodeParams(nh, "/end_calib"));
+
+  std::cout << describeCustomNodes() << std::endl;
+
+}
+
+void TreeExecutor::position(geometry_msgs::msg::PoseStamped & pose)
+{
+  nav2_util::getCurrentPose(pose, *tf_buffer_, global_frame_, base_frame_);
+}
+
+std::optional<std::string> TreeExecutor::onTreeExecutionCompleted(
+  BT::NodeStatus status, bool was_cancelled)
+{
+  (void)status;
+  logger_cout_.reset();
+
+  if (was_cancelled) {
+    std::cout << "Behavior tree was cancled" << std::endl;
+  }
+
+  return std::nullopt;
+}
+
+std::string TreeExecutor::describeCustomNodes() { return BT::writeTreeNodesModelXML(factory()); }
+
+}  // namespace toid
+
+int main(const int argc, const char * const * argv)
+{
+  rclcpp::init(argc, argv);
+
+  rclcpp::NodeOptions options;
+  auto bt_exec_server = std::make_shared<toid::TreeExecutor>(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;
+}