ros_decorator_node.hpp

// Copyright 2024 Robin Müller
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//    http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#pragma once
 
#include <string>
 
#include "auto_apms_behavior_tree_core/node/base/ros_node_base.hpp"
#include "behaviortree_cpp/decorator_node.h"
 
namespace auto_apms_behavior_tree::core
{

class RosDecoratorNode : public BT::DecoratorNode, public RosNodeBase
{
public:
  RosDecoratorNode(const std::string & instance_name, const Config & config, Context context);
 
  static BT::PortsList providedPorts();
};
 
}  // namespace auto_apms_behavior_tree::core