always_running.hpp

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#ifndef _ALWAYS_RUNNING_HPP
#define _ALWAYS_RUNNING_HPP
 
#include <behaviortree_cpp/action_node.h>
 
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>
 
namespace behavior_tree
{
 
class AlwaysRunning : public BT::StatefulActionNode
{
public:
  AlwaysRunning(
    const std::string & name, const BT::NodeConfig & config,
    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr logger_pub);
 
  static BT::PortsList providedPorts();
 
  BT::NodeStatus onStart() override;
 
  BT::NodeStatus onRunning() override;
 
  void onHalted() override;
 
private:
  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr logger_pub_;
};
 
}  // namespace behavior_tree
 
#endif  // !_ALWAYS_RUNNING_HPP