talker.hpp

Go to the documentation of this file.

 
#ifndef _TALKER_HPP
#define _TALKER_HPP
 
#include <behaviortree_cpp/action_node.h>
 
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>
 
namespace behavior_tree
{
 
class Talker : public BT::SyncActionNode
{
public:
  Talker(const std::string & name, const BT::NodeConfig & config, rclcpp::Node::SharedPtr ros_node);
 
  static BT::PortsList providedPorts();
 
  BT::NodeStatus tick() override;
 
private:
  rclcpp::Node::SharedPtr ros_node_;
  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
  std::string topic_name_;
};
 
}  // namespace behavior_tree
 
#endif  // _TALKER_HPP