ProgressCheckerSelector

It is used to select the ProgressChecker that will be used by the progress_checker server. It subscribes to the progress_checker_selector topic to receive command messages with the name of the ProgressChecker to be used. It is commonly used before of the FollowPathAction. The selected_progess_checker output port is passed to progress_checker_id input port of the FollowPathAction. If none is provided on the topic, the default_progress_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	progress_checker_selector

Description

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

default_progress_checker

Type	Default
string	N/A

Description

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

Output Ports

selected_progress_checker

Type	Default
string	N/A

Description

The output selected ProgressChecker id. This selected_progress_checker string is usually passed to the FollowPath behavior via the progress_checker_id input port.

Example

<ProgressCheckerSelector selected_progress_checker="{selected_progress_checker}" default_progress_checker="precise_progress_checker" topic_name="progress_checker_selector"/>