Class SmootherSelector

• Defined in File smoother_selector_node.hpp

Inheritance Relationships

Base Type

• public BT::SyncActionNode

Class Documentation

class SmootherSelector : public BT::SyncActionNode

The SmootherSelector behavior is used to switch the smoother that will be used by the smoother server. It subscribes to a topic “smoother_selector” to get the decision about what smoother must be used. It is usually used before of the FollowPath. The selected_smoother output port is passed to smoother_id input port of the FollowPath.

Public Functions

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

A constructor for nav2_behavior_tree::SmootherSelector.

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