Function rcl_action_publish_status

• Defined in File action_server.h

Function Documentation

rcl_ret_t rcl_action_publish_status(const rcl_action_server_t *action_server, const void *status_message)

Publish a status array message for accepted goals associated with an action server.

This function acts like a ROS publisher and is potentially a blocking call.

A status array message associated with the action server can be created with rcl_action_get_goal_status_array().

See also

rcl_publish()

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 publish the status message

• status_message – [in] an action_msgs/StatusArray ROS message to publish

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_ERROR if an unspecified error occurs.