{"path":"99 Work/0 OneSec/OneSecNotes/Multimedia/Pasted image 20231005135254.png","text":"| 3 HE.. class MoveRobot : public BT::SyncActionNode, public rclcpp::Node { e e public: — MoveRobot(const std::string &name, const BT::NodeConfiguration &coni == : BT::SyncActionNode(name, config), Node(“rotating node\") o \";;j:_ auto sensor_gos = rclcpp::QoS(rclcpp::SensorDataQos()); e “ = this->create subscription<nav msgs::msg: :0dometry: —— \"/odom\", sensor_qos, [&](const nav_msgs::msg::0dometry::Sharec == _. - odometry_callback(msg); ._f_:;-,_? HH A—— // As previously. == VAT T st R RS T JEI R T e s T I s Td <O} %éj;'? NodeStatus tick() override { = publisher_ = :?W:_:_ this->create_publisher<geometry msgs::msg: :Twist>(\"/cmd_vel”, ZZ=—=- auto message = geometry msgs::msg::Twist(); ;‘\"‘\" RCLCPP_INFO(this->get_logger(), \"robot position: '%f' '%f'\", posii 51‘: position_y); i message.linear.x = 0.5;","libVersion":"0.3.1","langs":"eng"}