flexbe_core.proxy.proxy_action_client module

A proxy for calling actions provides a single point for all state action interfaces.

class flexbe_core.proxy.proxy_action_client.ProxyActionClient(topics=None, wait_duration=10)

Bases: object

A proxy for calling actions.

classmethod cancel(topic)

Cancel the current action call on the given action topic.

@type topic: string @param topic: The topic of interest.

classmethod destroy_client(client, topic)

Handle client destruction from within the executor threads.

classmethod get_feedback(topic)

Return the latest feedback message of the given action call.

@type topic: string @param topic: The topic of interest.

classmethod get_result(topic)

Return the result message of the given action call.

@type topic: string @param topic: The topic of interest.

classmethod get_state(topic)

Determine the current actionlib state of the given action topic.

A list of possible states is defined in actionlib_msgs/GoalStatus.

@type topic: string @param topic: The topic of interest.

classmethod has_feedback(topic)

Check if the given action call has any feedback.

@type topic: string @param topic: The topic of interest.

classmethod has_result(topic)

Check if the given action call already has a result.

@type topic: string @param topic: The topic of interest.

static initialize(node)

Initialize ROS setup for proxy action client.

classmethod is_active(topic)

Determine if an action request is already being processed on the given topic.

@type topic: string @param topic: The topic of interest.

classmethod is_available(topic)

Check if the client and server for the given action topic is available.

@type topic: string @param topic: The topic of interest.

classmethod remove_feedback(topic)

Remove the latest feedback message of the given action call.

@type topic: string @param topic: The topic of interest.

classmethod remove_result(topic)

Remove the latest results of the given action call.

@type topic: string @param topic: The topic of interest.

classmethod send_goal(topic, goal, wait_duration=0.0)

Call action on the given topic.

@type topic: string @param topic: The topic to call.

@type goal: action goal @param goal: The request to send to the action server.

@type wait_duration: float seconds @param wait_duration: How long to wait for server

classmethod setupClient(topic, action_type, wait_duration=10)

Set up an action client for calling it later.

@type topic: string @param topic: The topic of the action to call.

@type action_type: action type @param action_type: The type of Action for this action client.

@type wait_duration: int @param wait_duration: Defines how long to wait for the given client if it is not available right now.

static shutdown()

Shuts this proxy down by reseting all action clients.