Function rcl_action_send_goal_response

Function Documentation

rcl_ret_t rcl_action_send_goal_response(const rcl_action_server_t *action_server, rmw_request_id_t *response_header, void *ros_goal_response)

Send a response for a goal request to an action client using an action server.

This is a non-blocking call.

The caller is responsible for ensuring that the type of ros_goal_response and the type associate with the client (via the type support) match. Passing a different type produces undefined behavior and cannot be checked by this function and therefore no deliberate error will occur.

If the caller intends to send an ‘accepted’ response, before calling this function the caller should use rcl_action_accept_new_goal() to get a rcl_action_goal_handle_t for future interaction with the goal (e.g. publishing feedback and canceling the goal).

This function is thread safe so long as access to both the action server and the ros_goal_response are synchronized. That means that calling rcl_action_send_goal_response() from multiple threads is allowed, but calling rcl_action_send_goal_response() at the same time as non-thread safe action server functions is not, e.g. calling rcl_action_send_goal_response() and rcl_action_server_fini() concurrently is not allowed. Before calling rcl_action_send_goal_response() the ros_goal_request can change and after calling rcl_action_send_goal_response() the ros_goal_request can change, but it cannot be changed during the rcl_action_send_goal_response() call.

Attribute

Adherence

Allocates Memory

No

Thread-Safe

Yes [1]

Uses Atomics

No

Lock-Free

Yes

[1] for unique pairs of action servers and responses, see above for more

Parameters:

  • action_server – [in] handle to the action server that will make the goal response

  • response_header – [in] pointer to the goal response header

  • ros_goal_response – [in] a ROS goal response message to send

Returns:

RCL_RET_OK if the response was sent successfully, or

Returns:

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

Returns:

RCL_RET_ACTION_SERVER_INVALID if the action server is invalid, or

Returns:

RCL_RET_TIMEOUT if a goal response reader is not ready yet, or

Returns:

RCL_RET_ERROR if an unspecified error occurs.