Class PlannerSelector
Defined in File planner_selector_node.hpp
Inheritance Relationships
Base Type
public BT::SyncActionNode
Class Documentation
The PlannerSelector behavior is used to switch the planner that will be used by the planner server. It subscribes to a topic “planner_selector” to get the decision about what planner must be used. It is usually used before of the ComputePathToPoseAction. The selected_planner output port is passed to planner_id input port of the ComputePathToPoseAction.
Public Functions
A constructor for nav2_behavior_tree::PlannerSelector.
- 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