The ActionServer is a helpful tool for managing goal requests to a node. It allows the user to specify callbacks that are invoked when goal or cancel requests come over the wire, and passes back GoalHandles that can be used to track the state of a given goal request. The ActionServer makes no assumptions about the policy used to service these goals, and sends status for each goal over the wire until the last GoalHandle associated with a goal request is destroyed. More...

Inheritance diagram for actionlib.action_server.ActionServer:

[legend]

Public Member Functions
def	__init__ (self, ns, ActionSpec, goal_cb, cancel_cb=nop_cb, auto_start=True)
	Constructor for an ActionServer. More...

def	initialize (self)
	Initialize all ROS connections and setup timers. More...

def	internal_cancel_callback (self, goal_id)
	The ROS callback for cancel requests coming into the ActionServer. More...

def	internal_goal_callback (self, goal)
	The ROS callback for goals coming into the ActionServer. More...

def	publish_feedback (self, status, feedback)
	Publishes feedback for a given goal. More...

def	publish_result (self, status, result)
	Publishes a result for a given goal. More...

def	publish_status (self)
	Explicitly publish status. More...

def	publish_status_async (self, event)
	Publish status for all goals on a timer event. More...

def	register_cancel_callback (self, cancel_cb)
	Register a callback to be invoked when a new cancel is received, this will replace any previously registered callback. More...

def	register_goal_callback (self, cb)
	Register a callback to be invoked when a new goal is received, this will replace any previously registered callback. More...

def	start (self)
	Start the action server. More...

def	stop (self)
	Stop the action server. More...

Detailed Description

The ActionServer is a helpful tool for managing goal requests to a node. It allows the user to specify callbacks that are invoked when goal or cancel requests come over the wire, and passes back GoalHandles that can be used to track the state of a given goal request. The ActionServer makes no assumptions about the policy used to service these goals, and sends status for each goal over the wire until the last GoalHandle associated with a goal request is destroyed.

Definition at line 56 of file action_server.py.

Constructor & Destructor Documentation

◆ init()

def actionlib.action_server.ActionServer.__init__	(	self,
		ns,
		ActionSpec,
		goal_cb,
		cancel_cb = `nop_cb`,
		auto_start = `True`
	)

Constructor for an ActionServer.

Parameters

ns/name	A namespace for the action server
actionspec	An explicit specification of the action
goal_cb	A goal callback to be called when the ActionServer receives a new goal over the wire
cancel_cb	A cancel callback to be called when the ActionServer receives a new cancel request over the wire
auto_start	A boolean value that tells the ActionServer whether or not to start publishing as soon as it comes up. THIS SHOULD ALWAYS BE SET TO FALSE TO AVOID RACE CONDITIONS and start() should be called after construction of the server.

Definition at line 63 of file action_server.py.

Member Function Documentation

◆ initialize()

def actionlib.action_server.ActionServer.initialize ( self )

Initialize all ROS connections and setup timers.

Definition at line 136 of file action_server.py.

◆ internal_cancel_callback()

def actionlib.action_server.ActionServer.internal_cancel_callback	(	self,
		goal_id
	)

The ROS callback for cancel requests coming into the ActionServer.

Definition at line 197 of file action_server.py.

◆ internal_goal_callback()

def actionlib.action_server.ActionServer.internal_goal_callback	(	self,
		goal
	)

The ROS callback for goals coming into the ActionServer.

Definition at line 251 of file action_server.py.

◆ publish_feedback()

def actionlib.action_server.ActionServer.publish_feedback	(	self,
		status,
		feedback
	)

Publishes feedback for a given goal.

Parameters

status	The status of the goal with which the feedback is associated
feedback	The feedback to publish

Definition at line 187 of file action_server.py.

◆ publish_result()

def actionlib.action_server.ActionServer.publish_result	(	self,
		status,
		result
	)

Publishes a result for a given goal.

Parameters

status	The status of the goal with which the result is associated
result	The result to publish

Definition at line 174 of file action_server.py.

◆ publish_status()

def actionlib.action_server.ActionServer.publish_status ( self )

Explicitly publish status.

Definition at line 303 of file action_server.py.

◆ publish_status_async()

def actionlib.action_server.ActionServer.publish_status_async	(	self,
		event
	)

Publish status for all goals on a timer event.

Definition at line 295 of file action_server.py.

◆ register_cancel_callback()

def actionlib.action_server.ActionServer.register_cancel_callback	(	self,
		cancel_cb
	)

Register a callback to be invoked when a new cancel is received, this will replace any previously registered callback.

Parameters

cb	The callback to invoke

Definition at line 114 of file action_server.py.

◆ register_goal_callback()

def actionlib.action_server.ActionServer.register_goal_callback	(	self,
		cb
	)

Register a callback to be invoked when a new goal is received, this will replace any previously registered callback.

Parameters

cb	The callback to invoke

Definition at line 109 of file action_server.py.

◆ start()

def actionlib.action_server.ActionServer.start ( self )

Start the action server.

Definition at line 118 of file action_server.py.

◆ stop()

def actionlib.action_server.ActionServer.stop ( self )

Stop the action server.

Please make sure it is not processing any goals at stop-time.

Definition at line 125 of file action_server.py.

Member Data Documentation

◆ ActionFeedback

actionlib.action_server.ActionServer.ActionFeedback

Definition at line 73 of file action_server.py.

◆ ActionGoal

actionlib.action_server.ActionServer.ActionGoal

Definition at line 70 of file action_server.py.

◆ ActionResult

actionlib.action_server.ActionServer.ActionResult

Definition at line 71 of file action_server.py.

◆ ActionResultType

actionlib.action_server.ActionServer.ActionResultType

Definition at line 72 of file action_server.py.

◆ ActionSpec

actionlib.action_server.ActionServer.ActionSpec

Definition at line 69 of file action_server.py.

◆ auto_start

actionlib.action_server.ActionServer.auto_start

Definition at line 98 of file action_server.py.

◆ cancel_callback

actionlib.action_server.ActionServer.cancel_callback

Definition at line 97 of file action_server.py.

◆ cancel_sub

actionlib.action_server.ActionServer.cancel_sub

Definition at line 78 of file action_server.py.

◆ feedback_pub

actionlib.action_server.ActionServer.feedback_pub

Definition at line 81 of file action_server.py.

◆ goal_callback

actionlib.action_server.ActionServer.goal_callback

Definition at line 94 of file action_server.py.

◆ goal_sub

actionlib.action_server.ActionServer.goal_sub

Definition at line 77 of file action_server.py.

◆ id_generator

actionlib.action_server.ActionServer.id_generator

Definition at line 92 of file action_server.py.

◆ last_cancel

actionlib.action_server.ActionServer.last_cancel

Definition at line 89 of file action_server.py.

◆ lock

actionlib.action_server.ActionServer.lock

Definition at line 83 of file action_server.py.

◆ ns

actionlib.action_server.ActionServer.ns

Definition at line 64 of file action_server.py.

◆ pub_queue_size

actionlib.action_server.ActionServer.pub_queue_size

Definition at line 137 of file action_server.py.

◆ result_pub

actionlib.action_server.ActionServer.result_pub

Definition at line 80 of file action_server.py.

◆ started

actionlib.action_server.ActionServer.started

Definition at line 100 of file action_server.py.

◆ status_frequency

actionlib.action_server.ActionServer.status_frequency

Definition at line 155 of file action_server.py.

◆ status_list

actionlib.action_server.ActionServer.status_list

Definition at line 87 of file action_server.py.

◆ status_list_timeout

actionlib.action_server.ActionServer.status_list_timeout

Definition at line 90 of file action_server.py.

◆ status_pub

actionlib.action_server.ActionServer.status_pub

Definition at line 79 of file action_server.py.

◆ status_timer

actionlib.action_server.ActionServer.status_timer

Definition at line 85 of file action_server.py.

◆ sub_queue_size

actionlib.action_server.ActionServer.sub_queue_size

Definition at line 144 of file action_server.py.

The documentation for this class was generated from the following file:

action_server.py

Public Attributes
	ActionFeedback

	ActionGoal

	ActionResult

	ActionResultType

	ActionSpec

	auto_start

	cancel_callback

	cancel_sub

	feedback_pub

	goal_callback

	goal_sub

	id_generator

	last_cancel

	lock

	ns

	pub_queue_size

	result_pub

	started

	status_frequency

	status_list

	status_list_timeout

	status_pub

	status_timer

	sub_queue_size

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ initialize()

◆ internal_cancel_callback()

◆ internal_goal_callback()

◆ publish_feedback()

◆ publish_result()

◆ publish_status()

◆ publish_status_async()

◆ register_cancel_callback()

◆ register_goal_callback()

◆ start()

◆ stop()

Member Data Documentation

◆ ActionFeedback

◆ ActionGoal

◆ ActionResult

◆ ActionResultType

◆ ActionSpec

◆ auto_start

◆ cancel_callback

◆ cancel_sub

◆ feedback_pub

◆ goal_callback

◆ goal_sub

◆ id_generator

◆ last_cancel

◆ lock

◆ ns

◆ pub_queue_size

◆ result_pub

◆ started

◆ status_frequency

◆ status_list

◆ status_list_timeout

◆ status_pub

◆ status_timer

◆ sub_queue_size

◆ init()