Class ControllerSelector
Defined in File controller_selector_node.hpp
Inheritance Relationships
Base Type
public BT::SyncActionNode
Class Documentation
The ControllerSelector behavior is used to switch the controller that will be used by the controller server. It subscribes to a topic “controller_selector” to get the decision about what controller must be used. It is usually used before of the FollowPath. The selected_controller output port is passed to controller_id input port of the FollowPath.
Public Functions
A constructor for nav2_behavior_tree::ControllerSelector.
- Parameters:
xml_tag_name – Name for the XML tag for this node
conf – BT node configuration
Public Static Functions
Creates list of BT ports.
- Returns:
BT::PortsList Containing basic ports along with node-specific ports