The GoalCheckerSelector behavior is used to switch the goal checker of the controller server. It subscribes to a topic "goal_checker_selector" to get the decision about what goal_checker must be used. It is usually used before of the FollowPath. The selected_goal_checker output port is passed to goal_checker_id input port of the FollowPath. More...
#include <nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/goal_checker_selector_node.hpp>
Public Member Functions | |
| GoalCheckerSelector (const std::string &xml_tag_name, const BT::NodeConfiguration &conf) | |
| A constructor for nav2_behavior_tree::GoalCheckerSelector. More... | |
Static Public Member Functions | |
| static BT::PortsList | providedPorts () |
| Creates list of BT ports. More... | |
Detailed Description
The GoalCheckerSelector behavior is used to switch the goal checker of the controller server. It subscribes to a topic "goal_checker_selector" to get the decision about what goal_checker must be used. It is usually used before of the FollowPath. The selected_goal_checker output port is passed to goal_checker_id input port of the FollowPath.
- Note
- This is an Asynchronous node. It will re-initialize when halted.
Definition at line 39 of file goal_checker_selector_node.hpp.
Constructor & Destructor Documentation
◆ GoalCheckerSelector()
| nav2_behavior_tree::GoalCheckerSelector::GoalCheckerSelector | ( | const std::string & | xml_tag_name, |
| const BT::NodeConfiguration & | conf | ||
| ) |
A constructor for nav2_behavior_tree::GoalCheckerSelector.
- Parameters
-
xml_tag_name Name for the XML tag for this node conf BT node configuration
Definition at line 30 of file goal_checker_selector_node.cpp.
Member Function Documentation
◆ providedPorts()
|
inlinestatic |
Creates list of BT ports.
- Returns
- BT::PortsList Containing basic ports along with node-specific ports
Definition at line 56 of file goal_checker_selector_node.hpp.
The documentation for this class was generated from the following files:
- nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/goal_checker_selector_node.hpp
- nav2_behavior_tree/plugins/action/goal_checker_selector_node.cpp
