Multiple planners in one app


We want to use lqr planner and otg5 without system restart and switch between planners on some condition is there way to do so using isaac sdk 2020.2 tools?
Or i need to make my own module which will accept plans from different planners and then depending on condition will feed it to the system?

Behavior trees, specifically the SwitchBehavior, should be of use to you here to swap between LQR and OTG5 planners depending on the situation.