Class GoalCheckerSelector
Defined in File goal_checker_selector_node.hpp
Inheritance Relationships
Base Type
public BT::SyncActionNode
Class Documentation
The GoalCheckerSelector behavior is used to switch the goal checker of the controller server. It subscribes to a topic “goal_checker_selector” to get the decision about what goal_checker must be used. It is usually used before of the FollowPath. The selected_goal_checker output port is passed to goal_checker_id input port of the FollowPath.
Public Functions
A constructor for nav2_behavior_tree::GoalCheckerSelector.
- 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