Function main

btcpp_ros2_samples/src/sleep_client.cpp:66–93

 )";

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

  BehaviorTreeFactory factory;

  factory.registerNodeType<PrintValue>("PrintValue");

  RosNodeParams params;
  params.nh = nh;
  params.default_port_value = "sleep_service";

#ifdef USE_SLEEP_PLUGIN
  RegisterRosNode(factory, "../lib/libsleep_action_plugin.so", params);
#else
  factory.registerNodeType<SleepAction>("SleepAction", params);
#endif

  auto tree = factory.createTreeFromText(xml_text);

  for(int i = 0; i < 5; i++)
  {
    tree.tickWhileRunning();
  }

  return 0;
}