Function rclc_action_send_goal_request

Function Documentation

rcl_ret_t rclc_action_send_goal_request(rclc_action_client_t *action_client, void *ros_request, rclc_action_goal_handle_t **goal_handle)

Send a goal to an action server.

  • Attribute

    Adherence

    Allocates Memory

    Yes

    Thread-Safe

    No

    Uses Atomics

    No

    Lock-Free

    No

Parameters:

  • action_client – [in] the action client for this action request

  • ros_request – [in] untyped ros action request

  • goal_handle – [inout] (optional) returns the goal handle used to track the goal

Returns:

RCL_RET_OK if successful

Returns:

RCL_ERROR (or other error code) if an error has occurred