plansys2_support_py.ActionExecutorClient module

Action Executor Client for PlanSys2.

class plansys2_support_py.ActionExecutorClient.ActionExecutorClient(*args: Any, **kwargs: Any)

Bases: LifecycleNode

Client for executing actions in PlanSys2.

action_hub_callback(msg: plansys2_msgs.msg.ActionExecution)

Handle action hub messages.

Parameters

msgActionExecution

Action execution message from the hub.

do_work()

Execute work (should be overridden by subclass).

Notes

This method should be overridden by subclasses to implement the actual action execution logic.

finish(success, completion, status)

Finish action execution.

Parameters

successbool

Whether action succeeded.

completionfloat

Action completion percentage.

statusstr

Action status.

on_activate(state: rclpy.lifecycle.LifecycleState) → rclpy.lifecycle.TransitionCallbackReturn

Activate the node.

Parameters

stateLifecycleState

Current lifecycle state.

Returns

TransitionCallbackReturn

SUCCESS.

on_configure(state: rclpy.lifecycle.LifecycleState) → rclpy.lifecycle.TransitionCallbackReturn

Configure the node.

Parameters

stateLifecycleState

Current lifecycle state.

Returns

TransitionCallbackReturn

SUCCESS or FAILURE.

on_deactivate(state: rclpy.lifecycle.LifecycleState) → rclpy.lifecycle.TransitionCallbackReturn

Deactivate the node.

Parameters

stateLifecycleState

Current lifecycle state.

Returns

TransitionCallbackReturn

SUCCESS.

send_feedback(completion, status)

Send feedback message.

Parameters

completionfloat

Action completion percentage.

statusstr

Action status.

send_response(msg: plansys2_msgs.msg.ActionExecution)

Send response message.

Parameters

msgActionExecution

Original action execution message.

should_execute(action, args) → bool

Check if action should be executed with given arguments.

Parameters

actionstr

Action name.

argslist

Action arguments.

Returns

bool

True if action should be executed.