Class ControllerSelector

Defined in File controller_selector_node.hpp

Inheritance Relationships

Base Type

public BT::SyncActionNode

Class Documentation

class ControllerSelector : public BT::SyncActionNode

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

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

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

static inline BT::PortsList providedPorts()

Creates list of BT ports.

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