|Constructor for a SimpleActionServer. |
|Accepts a new goal when one is available The status of this goal is set to active upon acceptance, and the status of any previously active goal is set to preempted. |
|Called from a separate thread to call blocking execute calls. |
|Callback for when the ActionServer receives a new goal and passes it on. |
|Callback for when the ActionServer receives a new preempt and passes it on. |
|Allows polling implementations to query about the status of the current goal. |
|Allows polling implementations to query about the availability of a new goal. |
|Allows polling implementations to query about preempt requests. |
|Publishes feedback for a given goal. |
|Allows users to register a callback to be invoked when a new goal is available. |
|Allows users to register a callback to be invoked when a new preempt request is available. |
|Sets the status of the active goal to aborted. |
|Sets the status of the active goal to preempted. |
|Sets the status of the active goal to succeeded. |
|Explicitly start the action server, used it auto_start is set to false. |
The specification of the policy is as follows: only one goal can have an active status at a time, new goals preempt previous goals based on the stamp in their GoalID field (later goals preempt earlier ones), an explicit preempt goal preempts all goals with timestamps that are less than or equal to the stamp associated with the preempt, accepting a new goal implies successful preemption of any old goal and the status of the old goal will be change automatically to reflect this.
Constructor for a SimpleActionServer.
|name||A name for the action server|
|execute_cb||Optional callback that gets called in a separate thread whenever a new goal is received, allowing users to have blocking callbacks. Adding an execute callback also deactivates the goalCallback.|
|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.|
Accepts a new goal when one is available The status of this goal is set to active upon acceptance, and the status of any previously active goal is set to preempted.
Preempts received for the new goal between checking if isNewGoalAvailable or invokation of a goal callback and the acceptNewGoal call will not trigger a preempt callback. This means, isPreemptReqauested should be called after accepting the goal even for callback-based implementations to make sure the new goal does not have a pending preempt request.