Function rcl_action_server_fini

Function Documentation

rcl_ret_t rcl_action_server_fini(rcl_action_server_t *action_server, rcl_node_t *node)

Finalize an action server.

After calling, the node will no longer listen to services and topics for this action server. (assuming this is the only action server of this type in this node).

After calling, calls to rcl_wait(), rcl_action_take_goal_request(), rcl_action_take_cancel_request(), rcl_action_publish_feedback(), rcl_action_publish_status(), rcl_action_send_result(), and rcl_action_send_cancel_response() will fail when using this action server. Additionally, rcl_wait() will be interrupted if currently blocking. However, the given node handle is still valid.

Attribute

Adherence

Allocates Memory

Yes

Thread-Safe

No

Uses Atomics

No

Lock-Free

Yes

Parameters:

  • action_server – [inout] handle to the action_server to be deinitialized

  • node – [in] handle to the node used to create the action server

Returns:

RCL_RET_OK if the action server was deinitialized successfully, or

Returns:

RCL_RET_ACTION_SERVER_INVALID if the action server pointer is null, or

Returns:

RCL_RET_NODE_INVALID if the node is invalid, or

Returns:

RCL_RET_ERROR if an unspecified error occurs.