added planner_id (#2806)

ros-navigation · May 6, 2022 · 319c8ac · 319c8ac
1 parent 38ca8d5
commit 319c8ac
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/nav2_simple_commander/nav2_simple_commander/robot_navigator.py b/nav2_simple_commander/nav2_simple_commander/robot_navigator.py
@@ -273,7 +273,7 @@ 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):
@@ -282,6 +282,8 @@ 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)