Function rcl_action_server_is_available

• Defined in File action_client.h

Function Documentation

rcl_ret_t rcl_action_server_is_available(const rcl_node_t *node, const rcl_action_client_t *client, bool *is_available)

Check if an action server is available for the given action client.

This function will return true for is_available if there is an action server available for the given action client.

The node parameter must not be NULL, and must point to a valid node.

The client parameter must not be NULL, and must point to a valid client.

The given client and node must match, i.e. the client must have been created using the given node.

The is_available parameter must not be NULL, and must point a bool variable. The result of the check will be stored in the is_available parameter.

In the event that error handling needs to allocate memory, this function will try to use the node’s allocator.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Maybe [1]

[1] implementation may need to protect the data structure with a lock

Parameters:

• node – [in] the handle to the node being used to query the ROS graph

• client – [in] the handle to the action client being queried

• is_available – [out] set to true if there is an action server available, else false

Returns:

RCL_RET_OK if successful (regardless of the action server availability), or

Returns:

RCL_RET_NODE_INVALID if the node is invalid, or

Returns:

RCL_RET_ACTION_CLIENT_INVALID if the action client is invalid, or

Returns:

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

Returns:

RCL_RET_ERROR if an unspecified error occurs.