{

std::cout<<"============ Tutorial 02 ============\n";

BT::BehaviorTreeFactory factory;

factory.registerNodeType<T02DummyNodes::SaySomething>("SaySomething");

factory.registerNodeType<T02DummyNodes::ThinkWhatToSay>("ThinkWhatToSay");

// SimpleActionNodes can not define their own method providedPorts().

// We should pass a PortsList explicitly if we want the Action to

// be able to use getInput() or setOutput();

BT::PortsList say_something_ports = { BT::InputPort<std::string>("message") };

factory.registerSimpleAction("SaySomething2", T02DummyNodes::SaySomethingSimple,

say_something_ports );

auto tree = factory.createTreeFromFile("./tutorial02_tree.xml");

tree.tickRoot();

/* Expected output:

return 0;

}