SmootherSelector

It is used to select the Smoother that will be used by the Smoother server. It subscribes to the smoother_selector topic to receive command messages with the name of the Smoother to be used. It is commonly used before of the FollowPathAction. If none is provided on the topic, the default_smoother 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	smoother_selector

Description

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

default_smoother:

Type	Default
string	N/A

Description

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

Output Ports

selected_smoother:

Type	Default
string	N/A

Description

The output selected Smoother id.

Example

<SmootherSelector selected_smoother="{selected_smoother}" default_smoother="SimpleSmoother" topic_name="smoother_selector"/>