revert API change

BehaviorTree · Nov 17, 2023 · ebb835c · ebb835c
1 parent b89dc19
commit ebb835c
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Showing 3 changed files with 13 additions and 9 deletions.
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp
@@ -154,7 +154,7 @@ class RosTopicSubNode : public BT::ConditionNode
  * 
  * @return the new status of the Node, based on last_msg
  */
- virtual NodeStatus onTick(const std::shared_ptr<TopicT> last_msg) = 0;
+ virtual NodeStatus onTick(const std::shared_ptr<TopicT>& last_msg) = 0;
 
 private:
 

diff --git a/btcpp_ros2_interfaces/CMakeLists.txt b/btcpp_ros2_interfaces/CMakeLists.txt
@@ -11,4 +11,4 @@ rosidl_generate_interfaces(btcpp_ros2_interfaces
  "action/Sleep.action")
 
 ament_export_dependencies(rosidl_default_runtime)
-ament_package()
+ament_package()
diff --git a/btcpp_ros2_samples/src/subscriber_test.cpp b/btcpp_ros2_samples/src/subscriber_test.cpp
@@ -21,7 +21,7 @@ class ReceiveString: public RosTopicSubNode<std_msgs::msg::String>
  {
  if(last_msg) // empty if no new message received, since the last tick
  {
- RCLCPP_INFO(logger(), "New message: %s", last_msg->data.c_str()); 
+ RCLCPP_INFO(logger(), "[%s] new message: %s", name().c_str(), last_msg->data.c_str());
  }
  return NodeStatus::SUCCESS;
  }
@@ -32,9 +32,9 @@ class ReceiveString: public RosTopicSubNode<std_msgs::msg::String>
  <root BTCPP_format="4">
  <BehaviorTree>
  <Sequence>
- <ReceiveString/>
- <ReceiveString/>
- <ReceiveString/>
+ <ReceiveString name="A"/>
+ <ReceiveString name="B"/>
+ <ReceiveString name="C"/>
  </Sequence>
  </BehaviorTree>
  </root>
@@ -52,11 +52,15 @@ int main(int argc, char **argv)
  params.default_port_value = "btcpp_string";
  factory.registerNodeType<ReceiveString>("ReceiveString", params);
 
- auto tree = factory.createTreeFromText(xml_text);
-
  while(rclcpp::ok())
  {
- tree.tickWhileRunning();
+ auto tree = factory.createTreeFromText(xml_text);
+ for(int i=0; i<10; i++)
+ {
+ tree.tickWhileRunning();
+ std::this_thread::sleep_for(std::chrono::milliseconds(100));
+ }
+ std::this_thread::sleep_for(std::chrono::milliseconds(100));
  }
 
  return 0;