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actionlib::action_server::ActionServer Class Reference

The ActionServer is a helpful tool for managing goal requests to a node. More...

Inheritance diagram for actionlib::action_server::ActionServer:
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[legend]

List of all members.

Public Member Functions

def __init__
 Constructor for an ActionServer.
def initialize
 Initialize all ROS connections and setup timers.
def internal_cancel_callback
 The ROS callback for cancel requests coming into the ActionServer.
def internal_goal_callback
 The ROS callback for goals coming into the ActionServer.
def publish_feedback
 Publishes feedback for a given goal.
def publish_result
 Publishes a result for a given goal.
def publish_status
 Explicitly publish status.
def publish_status_async
 Publish status for all goals on a timer event.
def register_cancel_callback
 Register a callback to be invoked when a new cancel is received, this will replace any previously registered callback.
def register_goal_callback
 Register a callback to be invoked when a new goal is received, this will replace any previously registered callback.
def start
 Start the action server.

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
 result_pub
 started
 status_frequency
 status_list
 status_list_timeout
 status_pub
 status_timer

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 71 of file action_server.py.


Member Function Documentation

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 wheteher 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 78 of file action_server.py.

def actionlib::action_server::ActionServer::initialize (   self  ) 

Initialize all ROS connections and setup timers.

Definition at line 141 of file action_server.py.

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.

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

The ROS callback for goals coming into the ActionServer.

Definition at line 257 of file action_server.py.

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 186 of file action_server.py.

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 173 of file action_server.py.

def actionlib::action_server::ActionServer::publish_status (   self  ) 

Explicitly publish status.

Definition at line 316 of file action_server.py.

def actionlib::action_server::ActionServer::publish_status_async (   self  ) 

Publish status for all goals on a timer event.

Definition at line 305 of file action_server.py.

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 130 of file action_server.py.

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 125 of file action_server.py.

def actionlib::action_server::ActionServer::start (   self  ) 

Start the action server.

Definition at line 134 of file action_server.py.


Member Data Documentation

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The documentation for this class was generated from the following file:
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actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Fri Mar 1 15:00:03 2013