ControllerSelector

It is used to select the Controller that will be used by the Controller server. It subscribes to the controller_selector topic to receive command messages with the name of the Controller to be used. It is commonly used before of the FollowPathAction. The selected_controller output port is passed to controller_id input port of the FollowPathAction. If none is provided on the topic, the default_controller 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	controller_selector

Description

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

default_controller:

Type	Default
string	N/A

Description

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

Output Ports

selected_controller:

Type	Default
string	N/A

Description

The output selected Controller id. This selected_controller string is usually passed to the FollowPath behavior via the controller_id input port.

Example

<ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>