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I am wondering will if be possible in ROS2 to have 2 different local planners and be able to switch between them.

For example, I want to use both pure-pursuit planner and DWA planner. Let's say that I have a camera that can identify whether if there is any obstacle in front of me. Under normal operation, when there is not obstacle, I want the ros2 planner to use pure-pursuit planner. However, in case of obstacles present, I want the ros2 local planner to switch to using DWA planner instead.I want the ros2 local planner to switch to using DWA planner instead.

Thus, I wonder what I will need to change in my configuration to reflect this feature?

Thanks all in advance!

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As far as I know, you can’t change the controller you are using in real time. I think you can only use the one you indicate in the configuration file before the execution.

If you found a way to do this, I would appreciate if you can share how you did it.

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