Register multiple nodes with single plugin

behaviortree_ros2/include/behaviortree_ros2/plugins.hpp

@@ -25,6 +25,25 @@ namespace BT
 constexpr const char* ROS_PLUGIN_SYMBOL = "BT_RegisterRosNodeFromPlugin";
 }
 
+/* Use this macro to automatically register one or more custom Nodes
+* into a factory that require access to the BT::RosNodeParams.
+* For instance:
+*
+* BT_REGISTER_ROS_NODES(factory, params)
+* {
+* factory.registerNodeType<SpecialNode>("SpecialNode", params);
+* }
+*
+* IMPORTANT: this function MUST be declared in a cpp file, NOT a header file.
+* You must add the definition [BT_PLUGIN_EXPORT] in CMakeLists.txt using:
+*
+* target_compile_definitions(my_plugin_target PRIVATE BT_PLUGIN_EXPORT )
+*/
+
+#define BT_REGISTER_ROS_NODES(factory, params) \
+ BTCPP_EXPORT void BT_RegisterRosNodeFromPlugin(BT::BehaviorTreeFactory& factory, \
+ const BT::RosNodeParams& params)
+
 // Use this macro to generate a plugin for:
 //
 // - BT::RosActionNode