actionlib Documentation

actionlib: Provides a standardized interface for a task

The actionlib package provides a standardized interface for interfacing with preemptible tasks. Examples of this include moving the base to a target location, performing a laser scan and returning the resulting point cloud, detecting the handle of a door, etc.

• Homepage: http://ros.org/wiki/actionlib

ActionClient Code API

• SimpleActionClient (C++)
• SimpleActionClient (Python)

ActionServer Code API

• actionlib::SimpleActionServer
• SimpleActionServer (Python)

Communication Protocol

The values for the status of a goal are as follows:

• PENDING - The goal has yet to be processed by the action server
• ACTIVE - The goal is currently being processed by the action server
• REJECTED - The goal was rejected by the action server without being processed and without a request from the action client to cancel
• SUCCEEDED - The goal was achieved successfully by the action server
• ABORTED - The goal was aborted by the action server
• PREEMPTING - Processing of the goal was canceled by either another goal, or a cancel request sent to the action server
• PREEMPTED - The goal was preempted by either another goal, or a preempt message being sent to the action server
• RECALLING - The goal has not been processed and a cancel request has been received from the action client, but the action server has not confirmed the goal is canceled
• RECALLED - The goal was canceled by either another goal, or a cancel request before the action server began processing the goal
• LOST - The goal was sent by the ActionClient, but disappeared due to some communication error