nav2_behavior_tree::SmootherSelector Class Reference

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. More...

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

Inheritance diagram for nav2_behavior_tree::SmootherSelector:

Collaboration diagram for nav2_behavior_tree::SmootherSelector:

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

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

Detailed Description

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.

Note

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

Definition at line 39 of file smoother_selector_node.hpp.

Constructor & Destructor Documentation

SmootherSelector()

nav2_behavior_tree::SmootherSelector::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

Definition at line 31 of file smoother_selector_node.cpp.

Member Function Documentation

providedPorts()

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

inlinestatic

Creates list of BT ports.

Returns

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

Definition at line 56 of file smoother_selector_node.hpp.

---

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

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