PathHandlerSelector

It is used to select the PathHandler that will be used by the controller server. It subscribes to the path_handler_selector topic to receive command messages with the name of the PathHandler to be used. It is commonly used before of the FollowPathAction. The selected_path_handler output port is passed to path_handler_id input port of the FollowPathAction. If none is provided on the topic, the default_path_handler 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	path_handler_selector

Description

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

default_path_handler

Type	Default
string	N/A

Description

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

Output Ports

selected_path_handler

Type	Default
string	N/A

Description

The output selected PathHandler id. This selected_path_handler string is usually passed to the FollowPath behavior via the path_handler_id input port.

Example

<PathHandlerSelector selected_path_handler="{selected_path_handler}" default_path_handler="PathHandler" topic_name="path_handler_selector"/>