GoalCheckerSelector

It is used to select the GoalChecker that will be used by the goal_checker server. It subscribes to the goal_checker_selector topic to receive command messages with the name of the GoalChecker to be used. It is commonly used before of the FollowPathAction. The selected_goal_checker output port is passed to goal_checker_id input port of the FollowPathAction. If none is provided on the topic, the default_goal_checker is used.

Any publisher to this topic needs to be configured with some QoS defined as reliable and transient local.

Input Ports

topic_name:
Type Default
string goal_checker_selector
Description

The name of the topic used to received select command messages. This is used to support multiple GoalCheckerSelector nodes.

default_goal_checker:
 
Type Default
string N/A
Description

The default value for the selected GoalChecker if no message is received from the input topic.

Output Ports

selected_goal_checker:
 
Type Default
string N/A
Description

The output selected GoalChecker id. This selected_goal_checker string is usually passed to the FollowPath behavior via the goal_checker_id input port.

Example

<GoalCheckerSelector selected_goal_checker="{selected_goal_checker}" default_goal_checker="precise_goal_checker" topic_name="goal_checker_selector"/>