Supporting multiple goal checkers in controller_server#2098
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pabloinigoblasco wants to merge 1 commit intoros-navigation:foxy-develfrom
Closed
Supporting multiple goal checkers in controller_server#2098pabloinigoblasco wants to merge 1 commit intoros-navigation:foxy-develfrom
pabloinigoblasco wants to merge 1 commit intoros-navigation:foxy-develfrom
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I closed the pull request and created a new one based on main instead of foxy. |
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Basic Info
Supporting multiple goal checkers in controller_server and switch between them dynamically.
Motivation; at the current moment there isnt (AFAIK) any mechanism to update dynamically the goal checker or the goal checker parameters at runtime.
Description of contribution in a few bullet points
This is a basic functionality to support multiple goal checkers in the controller_server (in the same way it is supported multiple controllers )
This initial proposal uses a controller_server parameter to store the "current_goal_checker" (alternatively it could be in the FollowPath action request like it is the controller_id).
It is provided with a "nav_params.yaml configuration" with a second "goal checker" to show how it is used. But that could be removed final pull request.
Description of documentation updates required from your changes
No documentation change should be required at (least in the c++ code)
Future work that may be required in bullet points