Function rcl_action_goal_handle_fini

Function Documentation

rcl_ret_t rcl_action_goal_handle_fini(rcl_action_goal_handle_t *goal_handle)

Finalize a rcl_action_goal_handle_t.

After calling, rcl_action_goal_handle_t will no longer be valid and rcl_action_server_t will no longer track the goal associated with the goal handle.

After calling, calls to rcl_action_publish_feedback(), rcl_action_publish_status(), rcl_action_update_goal_state(), rcl_action_goal_handle_get_status(), rcl_action_goal_handle_is_active(), rcl_action_goal_handle_get_message(), and rcl_action_goal_handle_get_info() will fail when using this goal handle.

However, the given action server is still valid.

Attribute

Adherence

Allocates Memory

Yes

Thread-Safe

No

Uses Atomics

No

Lock-Free

Yes

Parameters:

goal_handle – [inout] struct to be deinitialized

Returns:

RCL_RET_OK if the goal handle was deinitialized successfully, or

Returns:

RCL_RET_ACTION_GOAL_HANDLE_INVALID if the goal handle is invalid, or