nav2_behavior_tree::ControllerSelector Class Reference

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. More...

#include <nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/controller_selector_node.hpp>

Inheritance diagram for nav2_behavior_tree::ControllerSelector:

Collaboration diagram for nav2_behavior_tree::ControllerSelector:

Public Member Functions
	ControllerSelector (const std::string &xml_tag_name, const BT::NodeConfiguration &conf)
	A constructor for nav2_behavior_tree::ControllerSelector. More...

Static Public Member Functions
static BT::PortsList	providedPorts ()
	Creates list of BT ports. More...

Detailed Description

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.

Definition at line 38 of file controller_selector_node.hpp.

Constructor & Destructor Documentation

ControllerSelector()

nav2_behavior_tree::ControllerSelector::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

Definition at line 30 of file controller_selector_node.cpp.

Member Function Documentation

providedPorts()

static BT::PortsList nav2_behavior_tree::ControllerSelector::providedPorts ( )

inlinestatic

Creates list of BT ports.

Returns

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

Definition at line 55 of file controller_selector_node.hpp.

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The documentation for this class was generated from the following files:

• nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/controller_selector_node.hpp
• nav2_behavior_tree/plugins/action/controller_selector_node.cpp