nav2: changing controller plugins manually during runtime
I have created a controller plugin by following the tutorial and it is working as expected. I now have two controller plugins (The DWB controller present by default and the controller plugin I created) which are loaded at runtime and I can use those plugins in my behaviour tree as per my requirements.
My question is: Is there a way in which I can I change the controller plugin during runtime manually if the need arises? If yes then How?
I am using Ubuntu 20.04 with ROS2 Foxy
Thanks for the help in advance