nav2_behavior_tree::PlannerSelector Class Reference

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. More...

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

Inheritance diagram for nav2_behavior_tree::PlannerSelector:

Collaboration diagram for nav2_behavior_tree::PlannerSelector:

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

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

Detailed Description

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.

Note

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

Definition at line 39 of file planner_selector_node.hpp.

Constructor & Destructor Documentation

PlannerSelector()

nav2_behavior_tree::PlannerSelector::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

Definition at line 30 of file planner_selector_node.cpp.

Member Function Documentation

providedPorts()

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

inlinestatic

Creates list of BT ports.

Returns

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

Definition at line 56 of file planner_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/planner_selector_node.hpp
• nav2_behavior_tree/plugins/action/planner_selector_node.cpp