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added planner_id #2806

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Merged
merged 1 commit into from
Feb 8, 2022
Merged

added planner_id #2806

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4 changes: 3 additions & 1 deletion nav2_simple_commander/nav2_simple_commander/robot_navigator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -204,7 +204,7 @@ def waitUntilNav2Active(self):
self.info('Nav2 is ready for use!')
return

def getPath(self, start, goal):
def getPath(self, start, goal, planner_id=None):
"""Send a `ComputePathToPose` action request."""
self.debug("Waiting for 'ComputePathToPose' action server")
while not self.compute_path_to_pose_client.wait_for_server(timeout_sec=1.0):
Expand All @@ -213,6 +213,8 @@ def getPath(self, start, goal):
goal_msg = ComputePathToPose.Goal()
goal_msg.goal = goal
goal_msg.start = start
if planner_id is not None:
goal_msg.planner_id = planner_id

self.info('Getting path...')
send_goal_future = self.compute_path_to_pose_client.send_goal_async(goal_msg)
Expand Down