ControllerSelector
It is used to select the Controller that will be used by the Controller server. It subscribes to the controller_selector
topic to receive command messages with the name of the Controller to be used. It is commonly used before of the FollowPathAction. The selected_controller
output port is passed to controller_id
input port of the FollowPathAction. If none is provided on the topic, the default_controller
is used.
Output Ports
selected_controller: |
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- Description
The output selected Controller id. This selected_controller string is usually passed to the FollowPath behavior via the controller_id input port.
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Example
<ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>