Behavior tree glue code

toid_interaction/toid_interaction/interaction_node.py

@@ -107,7 +107,9 @@ def main(args=None):
     rclpy.init(args=args)
 
     node = InteracitionNode()
-    rclpy.executors.MultiThreadedExecutor().spin(node)
+    executor = rclpy.executors.MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
     rclpy.shutdown()