Helper class with an action server and commonly required fields already defined. Can be derived to provide a new action server. More...
#include <ActionServer.h>
Public Member Functions | |
| ActionServer (ros::NodeHandle &_node, const std::string &action_topic) | |
| bool | executingGoal () |
| bool | init () |
| void | shutdown () |
| virtual | ~ActionServer () |
Protected Types | |
| typedef ActionFeedbackConstPtr | ActionFeedbackConstPtrT |
| typedef ActionFeedback | ActionFeedbackT |
| typedef ActionGoalConstPtr | ActionGoalConstPtrT |
| typedef ROSActionServerT::GoalHandle | ActionGoalHandleT |
| typedef ActionGoalPtr | ActionGoalPtrT |
| typedef ActionGoal | ActionGoalT |
| typedef ActionResultConstPtr | ActionResultConstPtrT |
| typedef ActionResult | ActionResultT |
| typedef FeedbackConstPtr | FeedbackConstPtrT |
| typedef Feedback | FeedbackT |
| typedef GoalConstPtr | GoalConstPtrT |
| typedef Goal | GoalT |
| typedef ResultConstPtr | ResultConstPtrT |
| typedef Result | ResultT |
| typedef ROSActionServerT * | ROSActionServerPtr |
| typedef actionlib::ActionServer < ActionMessage > | ROSActionServerT |
| typedef ActionServer < ActionMessage > | Self |
Protected Member Functions | |
| virtual void | actionCallbackImpl (const ActionGoalHandleT &goal)=0 |
| virtual void | actionCancelCallbackImpl (const ActionGoalHandleT &goal) |
| virtual bool | canAccept (const ActionGoalHandleT &goal)=0 |
| void | currentActionDone (ResultT &result, const actionlib::SimpleClientGoalState &state) |
| void | currentActionDone (const actionlib::SimpleClientGoalState &state) |
| void | currentActionSuccess (const bool success) |
| virtual bool | initImpl () |
| virtual void | shutdownImpl () |
| double | timeRunning () |
| virtual float | waitForExecution (float timeout) |
Private Types | |
| typedef baselib_binding::condition_variable | condition_variable |
| typedef baselib_binding::mutex | mutex |
| typedef baselib_binding::recursive_mutex | recursive_mutex |
| typedef baselib_binding::unique_lock < mutex >::type | unique_lock |
| typedef baselib_binding::unique_lock < recursive_mutex >::type | unique_recursive_lock |
Private Member Functions | |
| void | actionCallback (ActionGoalHandleT &goal) |
| void | actionCancelCallback (ActionGoalHandleT &goal) |
| void | deleteServer () |
| bool | hasCurrentGoal () |
| void | startServer () |
Private Attributes | |
| ROSActionServerPtr | actionServer |
| std::string | actionTopic |
| ActionGoalHandleT | currentGoal |
| ros::Time | endTime |
| condition_variable | executionFinishedCondition |
| mutex | executionFinishedMutex |
| mutex | goalLock |
| bool | hasGoal |
| bool | initialized |
| bool | lastExeSuccess |
| ros::NodeHandle | node |
| ros::Time | startTime |
Helper class with an action server and commonly required fields already defined. Can be derived to provide a new action server.
As a template parameter, pass the action message type. For example, if there is a message type your_msgs::Example.action, pass your_msgs::ExampleAction
Definition at line 24 of file ActionServer.h.
typedef ActionFeedbackConstPtr convenience_ros_functions::ActionServer< ActionMessage >::ActionFeedbackConstPtrT [protected] |
Definition at line 47 of file ActionServer.h.
typedef ActionFeedback convenience_ros_functions::ActionServer< ActionMessage >::ActionFeedbackT [protected] |
Definition at line 46 of file ActionServer.h.
typedef ActionGoalConstPtr convenience_ros_functions::ActionServer< ActionMessage >::ActionGoalConstPtrT [protected] |
Definition at line 39 of file ActionServer.h.
typedef ROSActionServerT::GoalHandle convenience_ros_functions::ActionServer< ActionMessage >::ActionGoalHandleT [protected] |
Definition at line 33 of file ActionServer.h.
typedef ActionGoalPtr convenience_ros_functions::ActionServer< ActionMessage >::ActionGoalPtrT [protected] |
Definition at line 38 of file ActionServer.h.
typedef ActionGoal convenience_ros_functions::ActionServer< ActionMessage >::ActionGoalT [protected] |
Definition at line 37 of file ActionServer.h.
typedef ActionResultConstPtr convenience_ros_functions::ActionServer< ActionMessage >::ActionResultConstPtrT [protected] |
Definition at line 41 of file ActionServer.h.
typedef ActionResult convenience_ros_functions::ActionServer< ActionMessage >::ActionResultT [protected] |
Definition at line 40 of file ActionServer.h.
typedef baselib_binding::condition_variable convenience_ros_functions::ActionServer< ActionMessage >::condition_variable [private] |
Definition at line 180 of file ActionServer.h.
typedef FeedbackConstPtr convenience_ros_functions::ActionServer< ActionMessage >::FeedbackConstPtrT [protected] |
Definition at line 45 of file ActionServer.h.
typedef Feedback convenience_ros_functions::ActionServer< ActionMessage >::FeedbackT [protected] |
Definition at line 44 of file ActionServer.h.
typedef GoalConstPtr convenience_ros_functions::ActionServer< ActionMessage >::GoalConstPtrT [protected] |
Definition at line 36 of file ActionServer.h.
typedef Goal convenience_ros_functions::ActionServer< ActionMessage >::GoalT [protected] |
Definition at line 35 of file ActionServer.h.
typedef baselib_binding::mutex convenience_ros_functions::ActionServer< ActionMessage >::mutex [private] |
Definition at line 177 of file ActionServer.h.
typedef baselib_binding::recursive_mutex convenience_ros_functions::ActionServer< ActionMessage >::recursive_mutex [private] |
Definition at line 176 of file ActionServer.h.
typedef ResultConstPtr convenience_ros_functions::ActionServer< ActionMessage >::ResultConstPtrT [protected] |
Definition at line 43 of file ActionServer.h.
typedef Result convenience_ros_functions::ActionServer< ActionMessage >::ResultT [protected] |
Definition at line 42 of file ActionServer.h.
typedef ROSActionServerT* convenience_ros_functions::ActionServer< ActionMessage >::ROSActionServerPtr [protected] |
Definition at line 32 of file ActionServer.h.
typedef actionlib::ActionServer<ActionMessage> convenience_ros_functions::ActionServer< ActionMessage >::ROSActionServerT [protected] |
Definition at line 30 of file ActionServer.h.
typedef ActionServer<ActionMessage> convenience_ros_functions::ActionServer< ActionMessage >::Self [protected] |
Definition at line 28 of file ActionServer.h.
typedef baselib_binding::unique_lock<mutex>::type convenience_ros_functions::ActionServer< ActionMessage >::unique_lock [private] |
Definition at line 178 of file ActionServer.h.
typedef baselib_binding::unique_lock<recursive_mutex>::type convenience_ros_functions::ActionServer< ActionMessage >::unique_recursive_lock [private] |
Definition at line 179 of file ActionServer.h.
| ActionServer::ActionServer | ( | ros::NodeHandle & | _node, |
| const std::string & | action_topic | ||
| ) |
Definition at line 2 of file ActionServer.hpp.
| ActionServer::~ActionServer | ( | ) | [virtual] |
Definition at line 15 of file ActionServer.hpp.
| void ActionServer::actionCallback | ( | ActionGoalHandleT & | goal | ) | [private] |
Receive a new goal
Definition at line 164 of file ActionServer.hpp.
| virtual void convenience_ros_functions::ActionServer< ActionMessage >::actionCallbackImpl | ( | const ActionGoalHandleT & | goal | ) | [protected, pure virtual] |
Receive a new goal: subclasses implementation. No need to set the goal to accepted, rejected, etc. This function should just be used to initialize interal fields based on the values of the goal handle, and to kick off the execution of the action. Method canAccept() should have been used before to rule out that this action can be started.
Once the action is done, call method currentActionDone() to finalize the execution of this goal.
| void ActionServer::actionCancelCallback | ( | ActionGoalHandleT & | goal | ) | [private] |
Receive a cancel instruction
Definition at line 206 of file ActionServer.hpp.
| virtual void convenience_ros_functions::ActionServer< ActionMessage >::actionCancelCallbackImpl | ( | const ActionGoalHandleT & | goal | ) | [inline, protected, virtual] |
Receive a cancel instruction: subclasses implementation. Only needs to be implemented if any special actions are required upon canceling the action.
Definition at line 144 of file ActionServer.h.
| virtual bool convenience_ros_functions::ActionServer< ActionMessage >::canAccept | ( | const ActionGoalHandleT & | goal | ) | [protected, pure virtual] |
Subclasses should implement here whether this goal is eligible. No need to set goal to any state, this will be done if this method returns false. Will *always* be called immediately before actionCallbackImpl().
| void ActionServer::currentActionDone | ( | ResultT & | result, |
| const actionlib::SimpleClientGoalState & | state | ||
| ) | [protected] |
Method to call from subclasses to signal that the currently running goal has finished. Alternatively, other methods called currentActionDone() can be called which have the same effect but less descriptive outcomes for the action result.
Definition at line 99 of file ActionServer.hpp.
| void ActionServer::currentActionDone | ( | const actionlib::SimpleClientGoalState & | state | ) | [protected] |
Simpler implementation of currentActionDone(ActionResult&, const actionlib::SimpleClientGoalState&) which does not take a result.
Definition at line 112 of file ActionServer.hpp.
| void ActionServer::currentActionSuccess | ( | const bool | success | ) | [protected] |
Simple implementation of other currentActionDone() methods but which has same effect. When successful, it works the same. On error, the goal is always set to "aborted". The only reason this action is called "currentActionSuccess" instead of "currentActionDone" is that while it compiles, at runtime there is the problem that it recursively calls itself, instead of calling currentActionDone(const actionlib::SimpleClientGoalState).
Definition at line 126 of file ActionServer.hpp.
| void ActionServer::deleteServer | ( | ) | [private] |
Definition at line 153 of file ActionServer.hpp.
| bool ActionServer::executingGoal | ( | ) |
Checks whether there is currently a goal, and it is also active.
Definition at line 40 of file ActionServer.hpp.
| bool ActionServer::hasCurrentGoal | ( | ) | [private] |
Definition at line 214 of file ActionServer.hpp.
| bool ActionServer::init | ( | ) |
Starts action server and does internal initialisation.
Definition at line 22 of file ActionServer.hpp.
| bool ActionServer::initImpl | ( | ) | [protected, virtual] |
Can be implemented by subclasses. This is called from init().
Definition at line 133 of file ActionServer.hpp.
| void ActionServer::shutdown | ( | ) |
Methods to be executed for shutting down the action server
Definition at line 31 of file ActionServer.hpp.
| virtual void convenience_ros_functions::ActionServer< ActionMessage >::shutdownImpl | ( | ) | [inline, protected, virtual] |
Can be implemented by subclasses. This is called from shutdown().
Definition at line 118 of file ActionServer.h.
| void ActionServer::startServer | ( | ) | [private] |
Definition at line 138 of file ActionServer.hpp.
| double ActionServer::timeRunning | ( | ) | [protected] |
Time (in seconds) which has passed since the action has been started.
Definition at line 85 of file ActionServer.hpp.
| float ActionServer::waitForExecution | ( | float | timeout | ) | [protected, virtual] |
Can be used by subclasses to wait for the current execution of the action. Internally, waits until currentActionDone() is called by subclasses.
Definition at line 56 of file ActionServer.hpp.
ROSActionServerPtr convenience_ros_functions::ActionServer< ActionMessage >::actionServer [private] |
Definition at line 193 of file ActionServer.h.
std::string convenience_ros_functions::ActionServer< ActionMessage >::actionTopic [private] |
Definition at line 185 of file ActionServer.h.
ActionGoalHandleT convenience_ros_functions::ActionServer< ActionMessage >::currentGoal [private] |
Definition at line 190 of file ActionServer.h.
ros::Time convenience_ros_functions::ActionServer< ActionMessage >::endTime [private] |
Definition at line 194 of file ActionServer.h.
condition_variable convenience_ros_functions::ActionServer< ActionMessage >::executionFinishedCondition [private] |
Definition at line 195 of file ActionServer.h.
mutex convenience_ros_functions::ActionServer< ActionMessage >::executionFinishedMutex [private] |
Definition at line 196 of file ActionServer.h.
mutex convenience_ros_functions::ActionServer< ActionMessage >::goalLock [private] |
Definition at line 191 of file ActionServer.h.
bool convenience_ros_functions::ActionServer< ActionMessage >::hasGoal [private] |
Definition at line 188 of file ActionServer.h.
bool convenience_ros_functions::ActionServer< ActionMessage >::initialized [private] |
Definition at line 187 of file ActionServer.h.
bool convenience_ros_functions::ActionServer< ActionMessage >::lastExeSuccess [private] |
Definition at line 189 of file ActionServer.h.
ros::NodeHandle convenience_ros_functions::ActionServer< ActionMessage >::node [private] |
Definition at line 183 of file ActionServer.h.
ros::Time convenience_ros_functions::ActionServer< ActionMessage >::startTime [private] |
Definition at line 194 of file ActionServer.h.