Function rcl_action_send_result_response

• Defined in File action_server.h

Function Documentation

rcl_ret_t rcl_action_send_result_response(const rcl_action_server_t *action_server, rmw_request_id_t *response_header, void *ros_result_response)

Send a result response using an action server.

This is a non-blocking call.

The caller is responsible for ensuring that the type of ros_result_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.

Before calling this function, the caller should use rcl_action_update_goal_state() to update the goals state to the appropriate terminal state.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters:

• action_server – [in] handle to the action server that will send the result response

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

• ros_result_response – [in] a ROS result 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 result response reader is not ready yet, or

Returns:

RCL_RET_ERROR if an unspecified error occurs.