{"path":"99 Work/0 OneSec/OneSecNotes/Multimedia/Pasted image 20231005135626.png","text":"- — int main(int argc, char **argv) { ?_;: rclepp::init(arge, argv); ;—‘; auto nh = std::make_shared<rclcpp::Node>(\"sleep_client™); = // We use the BehaviorTreeFactory to register our custom nodes % BT g I FTad g Fla g ——-’;&'- //Node registration process — factory.regi stc].:*uodeTypea'loveRobot>( \"MoveRobot\"); e— factory.registerNodeType<ReadinglLaser>(“ReadinglLaser™); % factory.registerNodeType<Rotating>(\"Rotating”); = —.‘: // we incorporated the BT (XML format) = auto tree = factory.createTreeFromText(xml_text); -?s K — NodeStatus status = NodeStatus::FAILURE; é BT: :NodeConfiguration con = {}; = = //definiion of smart pointers to =% auto 1c_listener = std::make_shared<ReadinglLaser>(\"lc_listener”, con); ’.»5* auto 1c_odom = std::make_shared<Rotating>(\"1lc_odom”, con); (== // for logging purposes. Details later s FileLogger logger file(tree, \"bt trace unite.fbl\"); :_';f // we spin ROS nodes = while (status == BT::NodeStatus::FAILURE) { =5 rclcpp::spin_some(lc_odom) ;","libVersion":"0.3.1","langs":"eng"}