Function main

btcpp_ros2_samples/src/bool_client.cpp:23–45

 )";

int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  auto nh = std::make_shared<rclcpp::Node>("bool_client");

  BehaviorTreeFactory factory;

  // version with default port
  factory.registerNodeType<SetBoolService>("SetBoolA", BT::RosNodeParams(nh, "robotA/"
                                                                             "set_bool"));

  // version without default port
  factory.registerNodeType<SetBoolService>("SetBool", BT::RosNodeParams(nh));

  // namespace version
  factory.registerNodeType<SetRobotBoolService>("SetRobotBool", nh, "set_bool");

  auto tree = factory.createTreeFromText(xml_text);

  tree.tickWhileRunning();

  return 0;
}