smach_ros.simple_action_state module

class smach_ros.simple_action_state.SimpleActionState(*args: Any, **kwargs: Any)

Simple action client state. Use this class to represent an ActionClient as a state in a state machine.

execute(ud): Called when executing a state. This calls the goal_cb if it is defined, and then dispatches the goal with a non-blocking call to the action client.

request_preempt(): Request preemption of this state and cancel the goal with a timeout.