Program Listing for File echo.hpp

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#ifndef AS2_BEHAVIOR_TREE__ACTION__ECHO_HPP_
#define AS2_BEHAVIOR_TREE__ACTION__ECHO_HPP_

#include <string>

#include "behaviortree_cpp_v3/action_node.h"
#include "rclcpp/rclcpp.hpp"

namespace as2_behavior_tree
{
class Echo : public BT::SyncActionNode
{
public:
  Echo(const std::string & xml_tag_name, const BT::NodeConfiguration & conf);

  BT::NodeStatus tick() override;

  static BT::PortsList providedPorts() {return {BT::InputPort("data")};}

private:
  rclcpp::Node::SharedPtr node_;
};
}  // namespace as2_behavior_tree

#endif  // AS2_BEHAVIOR_TREE__ACTION__ECHO_HPP_