Class GoalCheckerSelector

Inheritance Relationships

Base Type

  • public BT::SyncActionNode

Class Documentation

class GoalCheckerSelector : public BT::SyncActionNode

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

GoalCheckerSelector(const std::string &xml_tag_name, const BT::NodeConfiguration &conf)

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

static inline BT::PortsList providedPorts()

Creates list of BT ports.

Returns:

BT::PortsList Containing basic ports along with node-specific ports