The ActionServer is a helpful tool for managing goal requests to a node. More...
Public Member Functions | |
| def | __init__ |
| Constructor for an ActionServer. | |
| def | initialize |
| Initialize all ROS connections and setup timers. | |
| def | internal_cancel_callback |
| The ROS callback for cancel requests coming into the ActionServer. | |
| def | internal_goal_callback |
| The ROS callback for goals coming into the ActionServer. | |
| def | publish_feedback |
| Publishes feedback for a given goal. | |
| def | publish_result |
| Publishes a result for a given goal. | |
| def | publish_status |
| Explicitly publish status. | |
| def | publish_status_async |
| Publish status for all goals on a timer event. | |
| def | register_cancel_callback |
| Register a callback to be invoked when a new cancel is received, this will replace any previously registered callback. | |
| def | register_goal_callback |
| Register a callback to be invoked when a new goal is received, this will replace any previously registered callback. | |
| def | start |
| Start the action server. | |
Public Attributes | |
| ActionFeedback | |
| ActionGoal | |
| ActionResult | |
| ActionResultType | |
| ActionSpec | |
| auto_start | |
| cancel_callback | |
| cancel_sub | |
| feedback_pub | |
| goal_callback | |
| goal_sub | |
| id_generator | |
| last_cancel | |
| lock | |
| ns | |
| pub_queue_size | |
| result_pub | |
| started | |
| status_frequency | |
| status_list | |
| status_list_timeout | |
| status_pub | |
| status_timer | |
| sub_queue_size | |
Detailed Description
The ActionServer is a helpful tool for managing goal requests to a node.
It allows the user to specify callbacks that are invoked when goal or cancel requests come over the wire, and passes back GoalHandles that can be used to track the state of a given goal request. The ActionServer makes no assumptions about the policy used to service these goals, and sends status for each goal over the wire until the last GoalHandle associated with a goal request is destroyed.
Definition at line 69 of file action_server.py.
Constructor & Destructor Documentation
| def actionlib.action_server.ActionServer.__init__ | ( | self, | |
| ns, | |||
| ActionSpec, | |||
| goal_cb, | |||
cancel_cb = nop_cb, |
|||
auto_start = True |
|||
| ) |
Constructor for an ActionServer.
- Parameters:
-
ns/name A namespace for the action server actionspec An explicit specification of the action goal_cb A goal callback to be called when the ActionServer receives a new goal over the wire cancel_cb A cancel callback to be called when the ActionServer receives a new cancel request over the wire auto_start A boolean value that tells the ActionServer wheteher or not to start publishing as soon as it comes up. THIS SHOULD ALWAYS BE SET TO FALSE TO AVOID RACE CONDITIONS and start() should be called after construction of the server.
Definition at line 76 of file action_server.py.
Member Function Documentation
| def actionlib.action_server.ActionServer.initialize | ( | self | ) |
Initialize all ROS connections and setup timers.
Definition at line 138 of file action_server.py.
| def actionlib.action_server.ActionServer.internal_cancel_callback | ( | self, | |
| goal_id | |||
| ) |
The ROS callback for cancel requests coming into the ActionServer.
Definition at line 198 of file action_server.py.
| def actionlib.action_server.ActionServer.internal_goal_callback | ( | self, | |
| goal | |||
| ) |
The ROS callback for goals coming into the ActionServer.
Definition at line 252 of file action_server.py.
| def actionlib.action_server.ActionServer.publish_feedback | ( | self, | |
| status, | |||
| feedback | |||
| ) |
Publishes feedback for a given goal.
- Parameters:
-
status The status of the goal with which the feedback is associated feedback The feedback to publish
Definition at line 188 of file action_server.py.
| def actionlib.action_server.ActionServer.publish_result | ( | self, | |
| status, | |||
| result | |||
| ) |
Publishes a result for a given goal.
- Parameters:
-
status The status of the goal with which the result is associated result The result to publish
Definition at line 175 of file action_server.py.
Explicitly publish status.
Definition at line 304 of file action_server.py.
Publish status for all goals on a timer event.
Definition at line 296 of file action_server.py.
| def actionlib.action_server.ActionServer.register_cancel_callback | ( | self, | |
| cancel_cb | |||
| ) |
Register a callback to be invoked when a new cancel is received, this will replace any previously registered callback.
- Parameters:
-
cb The callback to invoke
Definition at line 127 of file action_server.py.
| def actionlib.action_server.ActionServer.register_goal_callback | ( | self, | |
| cb | |||
| ) |
Register a callback to be invoked when a new goal is received, this will replace any previously registered callback.
- Parameters:
-
cb The callback to invoke
Definition at line 122 of file action_server.py.
| def actionlib.action_server.ActionServer.start | ( | self | ) |
Start the action server.
Definition at line 131 of file action_server.py.
Member Data Documentation
Definition at line 76 of file action_server.py.
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Definition at line 138 of file action_server.py.
Definition at line 76 of file action_server.py.
Definition at line 76 of file action_server.py.
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Definition at line 76 of file action_server.py.
Definition at line 76 of file action_server.py.
Definition at line 76 of file action_server.py.
Definition at line 138 of file action_server.py.
The documentation for this class was generated from the following file: