nav2_behavior_tree::PathHandlerSelector Class Reference

The PathHandlerSelector behavior is used to switch the path handler of the controller server. It subscribes to a topic "path_handler_selector" to get the decision about what path_handler must be used. It is usually used before the FollowPath. The selected_path_handler output port is passed to path_handler_id input port of the FollowPath. More...

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

Inheritance diagram for nav2_behavior_tree::PathHandlerSelector:

Collaboration diagram for nav2_behavior_tree::PathHandlerSelector:

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

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

Detailed Description

The PathHandlerSelector behavior is used to switch the path handler of the controller server. It subscribes to a topic "path_handler_selector" to get the decision about what path_handler must be used. It is usually used before the FollowPath. The selected_path_handler output port is passed to path_handler_id input port of the FollowPath.

Note

This is an Asynchronous node. It will re-initialize when halted.

Usage in XML:

<PathHandlerSelector selected_path_handler="{selected_path_handler}"
                     default_path_handler="PathHandler" topic_name="path_handler_selector"/>

Definition at line 45 of file path_handler_selector_node.hpp.

Constructor & Destructor Documentation

PathHandlerSelector()

nav2_behavior_tree::PathHandlerSelector::PathHandlerSelector	(	const std::string &	xml_tag_name,
		const BT::NodeConfiguration &	conf
	)

A constructor for nav2_behavior_tree::PathHandlerSelector.

Parameters

xml_tag_name	Name for the XML tag for this node
conf	BT node configuration

Definition at line 29 of file path_handler_selector_node.cpp.

Member Function Documentation

providedPorts()

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

inlinestatic

Creates list of BT ports.

Returns

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

Definition at line 62 of file path_handler_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/path_handler_selector_node.hpp
• nav2_behavior_tree/plugins/action/path_handler_selector_node.cpp