Program Listing for File send_event.hpp

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#ifndef AS2_BEHAVIOR_TREE__ACTION__SEND_EVENT_HPP_
#define AS2_BEHAVIOR_TREE__ACTION__SEND_EVENT_HPP_

#include <string>

#include "behaviortree_cpp_v3/action_node.h"

#include "nav2_behavior_tree/bt_service_node.hpp"

#include "std_msgs/msg/string.hpp"

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

  BT::NodeStatus tick() override;

  static BT::PortsList providedPorts()
  {
    return {BT::InputPort<std::string>("topic_name"), BT::InputPort("data")};
  }

private:
  rclcpp::Node::SharedPtr node_;
  rclcpp::CallbackGroup::SharedPtr callback_group_;
  rclcpp::executors::SingleThreadedExecutor callback_group_executor_;
  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_;
  std::string topic_name_;
};
}  // namespace as2_behavior_tree

#endif  // AS2_BEHAVIOR_TREE__ACTION__SEND_EVENT_HPP_