Class PlannerSelector

• Defined in File planner_selector_node.hpp

Inheritance Relationships

Base Type

• public BT::SyncActionNode

Class Documentation

class PlannerSelector : public BT::SyncActionNode

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

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

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

static inline BT::PortsList providedPorts()

Creates list of BT ports.

Returns:

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