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.

Input Ports

topic_name

Type	Default
string	planner_selector

Description

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

default_planner

Type	Default
string	N/A

Description

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

Output Ports

selected_planner

Type	Default
string	N/A

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"/>