definitions.hpp

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// 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
//
//      https://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 "behaviortree_cpp/bt_factory.h"
 
namespace auto_apms_behavior_tree
{
 
using Tree = BT::Tree;
using TreeBlackboard = BT::Blackboard;
using TreeBlackboardSharedPtr = std::shared_ptr<TreeBlackboard>;
 
// BT Executor definitions
const char BT_EXECUTOR_UPLOAD_TREE_SERVICE_NAME_SUFFIX[] = "/upload";
const char BT_EXECUTOR_RUN_ACTION_NAME_SUFFIX[] = "/start";
const char BT_EXECUTOR_COMMAND_ACTION_NAME_SUFFIX[] = "/command";
 
}  // namespace auto_apms_behavior_tree