Function main

btcpp_ros2_samples/src/subscriber_test.cpp:43–63

 )";

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

  BehaviorTreeFactory factory;

  RosNodeParams params;
  params.nh = nh;
  params.default_port_value = "btcpp_string";
  factory.registerNodeType<ReceiveString>("ReceiveString", params);

  auto tree = factory.createTreeFromText(xml_text);

  while(rclcpp::ok())
  {
    tree.tickWhileRunning();
  }

  return 0;
}