PlannerSelector
It is used to select the planner that will be used by the planner server. It subscribes to the planner_selector
topic to receive command messages with the name of the planner to be used. It is commonly used before of the ComputePathToPoseAction. The selected_planner
output port is passed to planner_id
input port of the ComputePathToPoseAction. If none is provided on the topic, the default_planner
is used.
Any publisher to this topic needs to be configured with some QoS defined as reliable
and transient local
.
Output Ports
selected_planner: |
|
- Description
The output selected planner id. This selected_planner string is usually passed to the ComputePathToPose behavior via the planner_id input port.
|
Example
<PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>