Full interface to an ActionServer. More...

#include <action_client.h>

Public Types
typedef ClientGoalHandle< ActionSpec >	GoalHandle

Public Member Functions
	ActionClient (const std::string &name, ros::CallbackQueueInterface *queue=NULL)
	Simple constructor. More...

	ActionClient (const ros::NodeHandle &n, const std::string &name, ros::CallbackQueueInterface *queue=NULL)
	Constructor with namespacing options. More...

void	cancelAllGoals ()
	Cancel all goals currently running on the action server. More...

void	cancelGoalsAtAndBeforeTime (const ros::Time &time)
	Cancel all goals that were stamped at and before the specified time. More...

bool	isServerConnected ()
	Checks if the action client is successfully connected to the action server. More...

GoalHandle	sendGoal (const Goal &goal, TransitionCallback transition_cb=TransitionCallback(), FeedbackCallback feedback_cb=FeedbackCallback())
	Sends a goal to the ActionServer, and also registers callbacks. More...

bool	waitForActionServerToStart (const ros::Duration &timeout=ros::Duration(0, 0))
	Waits for the ActionServer to connect to this client Often, it can take a second for the action server & client to negotiate a connection, thus, risking the first few goals to be dropped. This call lets the user wait until the network connection to the server is negotiated NOTE: Using this call in a single threaded ROS application, or any application where the action client's callback queue is not being serviced, will not work. Without a separate thread servicing the queue, or a multi-threaded spinner, there is no way for the client to tell whether or not the server is up because it can't receive a status message. More...

	~ActionClient ()

Private Types
typedef ActionClient< ActionSpec >	ActionClientT

typedef boost::function< void(GoalHandle, const FeedbackConstPtr &)>	FeedbackCallback

typedef boost::function< void(const ActionGoalConstPtr)>	SendGoalFunc

typedef boost::function< void(GoalHandle)>	TransitionCallback

Private Member Functions
	ACTION_DEFINITION (ActionSpec)

void	feedbackCb (const ros::MessageEvent< ActionFeedback const > &action_feedback)

void	initClient (ros::CallbackQueueInterface *queue)

template<class M >
ros::Publisher	queue_advertise (const std::string &topic, uint32_t queue_size, const ros::SubscriberStatusCallback &connect_cb, const ros::SubscriberStatusCallback &disconnect_cb, ros::CallbackQueueInterface *queue)

template<class M , class T >
ros::Subscriber	queue_subscribe (const std::string &topic, uint32_t queue_size, void(T::fp)(const ros::MessageEvent< M const > &), T obj, ros::CallbackQueueInterface *queue)

void	resultCb (const ros::MessageEvent< ActionResult const > &action_result)

void	sendCancelFunc (const actionlib_msgs::GoalID &cancel_msg)

void	sendGoalFunc (const ActionGoalConstPtr &action_goal)

void	statusCb (const ros::MessageEvent< actionlib_msgs::GoalStatusArray const > &status_array_event)

Private Attributes
ros::Publisher	cancel_pub_

boost::shared_ptr< ConnectionMonitor >	connection_monitor_

ros::Subscriber	feedback_sub_

ros::Publisher	goal_pub_

boost::shared_ptr< DestructionGuard >	guard_

GoalManager< ActionSpec >	manager_

ros::NodeHandle	n_

ros::Subscriber	result_sub_

ros::Subscriber	status_sub_

Detailed Description

template<class ActionSpec>
class actionlib::ActionClient< ActionSpec >

Full interface to an ActionServer.

ActionClient provides a complete client side implementation of the ActionInterface protocol. It provides callbacks for every client side transition, giving the user full observation into the client side state machine.

Definition at line 59 of file action_client.h.

Member Typedef Documentation

template<class ActionSpec>

typedef ActionClient<ActionSpec> actionlib::ActionClient< ActionSpec >::ActionClientT

private

Definition at line 66 of file action_client.h.

template<class ActionSpec>

typedef boost::function<void (GoalHandle, const FeedbackConstPtr &)> actionlib::ActionClient< ActionSpec >::FeedbackCallback

private

Definition at line 68 of file action_client.h.

template<class ActionSpec>

typedef ClientGoalHandle<ActionSpec> actionlib::ActionClient< ActionSpec >::GoalHandle

Definition at line 62 of file action_client.h.

template<class ActionSpec>

typedef boost::function<void (const ActionGoalConstPtr)> actionlib::ActionClient< ActionSpec >::SendGoalFunc

private

Definition at line 69 of file action_client.h.

template<class ActionSpec>

typedef boost::function<void (GoalHandle)> actionlib::ActionClient< ActionSpec >::TransitionCallback

private

Definition at line 67 of file action_client.h.

Constructor & Destructor Documentation

template<class ActionSpec>

actionlib::ActionClient< ActionSpec >::ActionClient	(	const std::string &	name,
		ros::CallbackQueueInterface *	queue = `NULL`
	)

inline

Simple constructor.

Constructs an ActionClient and sets up the necessary ros topics for the ActionInterface

Parameters

name	The action name. Defines the namespace in which the action communicates
queue	CallbackQueue from which this action will process messages. The default (NULL) is to use the global queue

Definition at line 80 of file action_client.h.

template<class ActionSpec>

actionlib::ActionClient< ActionSpec >::ActionClient	(	const ros::NodeHandle &	n,
		const std::string &	name,
		ros::CallbackQueueInterface *	queue = `NULL`
	)

inline

Constructor with namespacing options.

Constructs an ActionClient and sets up the necessary ros topics for the ActionInterface, and namespaces them according the a specified NodeHandle

Parameters

n	The node handle on top of which we want to namespace our action
name	The action name. Defines the namespace in which the action communicates
queue	CallbackQueue from which this action will process messages. The default (NULL) is to use the global queue

Definition at line 97 of file action_client.h.

template<class ActionSpec>

actionlib::ActionClient< ActionSpec >::~ActionClient ( )

inline

Definition at line 105 of file action_client.h.

Member Function Documentation

template<class ActionSpec>

actionlib::ActionClient< ActionSpec >::ACTION_DEFINITION ( ActionSpec )

private

template<class ActionSpec>

void actionlib::ActionClient< ActionSpec >::cancelAllGoals ( )

inline

Cancel all goals currently running on the action server.

This preempts all goals running on the action server at the point that this message is serviced by the ActionServer.

Definition at line 135 of file action_client.h.

template<class ActionSpec>

void actionlib::ActionClient< ActionSpec >::cancelGoalsAtAndBeforeTime ( const ros::Time & time )

inline

Cancel all goals that were stamped at and before the specified time.

Parameters

time	All goals stamped at or before `time` will be canceled

Definition at line 148 of file action_client.h.

template<class ActionSpec>

void actionlib::ActionClient< ActionSpec >::feedbackCb ( const ros::MessageEvent< ActionFeedback const > & action_feedback )

inlineprivate

Definition at line 294 of file action_client.h.

template<class ActionSpec>

void actionlib::ActionClient< ActionSpec >::initClient ( ros::CallbackQueueInterface * queue )

inlineprivate

Definition at line 217 of file action_client.h.

template<class ActionSpec>

bool actionlib::ActionClient< ActionSpec >::isServerConnected ( )

inline

Checks if the action client is successfully connected to the action server.

Returns: True if the server is connected, false otherwise

Definition at line 187 of file action_client.h.

template<class ActionSpec>

template<class M >

ros::Publisher actionlib::ActionClient< ActionSpec >::queue_advertise	(	const std::string &	topic,
		uint32_t	queue_size,
		const ros::SubscriberStatusCallback &	connect_cb,
		const ros::SubscriberStatusCallback &	disconnect_cb,
		ros::CallbackQueueInterface *	queue
	)

inlineprivate

Definition at line 253 of file action_client.h.

template<class ActionSpec>

template<class M , class T >

ros::Subscriber actionlib::ActionClient< ActionSpec >::queue_subscribe	(	const std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(const ros::MessageEvent< M const > &)	fp,
		T *	obj,
		ros::CallbackQueueInterface *	queue
	)

inlineprivate

Definition at line 267 of file action_client.h.

template<class ActionSpec>

void actionlib::ActionClient< ActionSpec >::resultCb ( const ros::MessageEvent< ActionResult const > & action_result )

inlineprivate

Definition at line 299 of file action_client.h.

template<class ActionSpec>

void actionlib::ActionClient< ActionSpec >::sendCancelFunc ( const actionlib_msgs::GoalID & cancel_msg )

inlineprivate

Definition at line 212 of file action_client.h.

template<class ActionSpec>

GoalHandle actionlib::ActionClient< ActionSpec >::sendGoal	(	const Goal &	goal,
		TransitionCallback	transition_cb = `TransitionCallback()`,
		FeedbackCallback	feedback_cb = `FeedbackCallback()`
	)

inline

Sends a goal to the ActionServer, and also registers callbacks.

Parameters

transition_cb	Callback that gets called on every client state transition
feedback_cb	Callback that gets called whenever feedback for this goal is received

Definition at line 118 of file action_client.h.

template<class ActionSpec>

void actionlib::ActionClient< ActionSpec >::sendGoalFunc ( const ActionGoalConstPtr & action_goal )

inlineprivate

Definition at line 207 of file action_client.h.

template<class ActionSpec>

void actionlib::ActionClient< ActionSpec >::statusCb ( const ros::MessageEvent< actionlib_msgs::GoalStatusArray const > & status_array_event )

inlineprivate

Definition at line 284 of file action_client.h.

template<class ActionSpec>

bool actionlib::ActionClient< ActionSpec >::waitForActionServerToStart ( const ros::Duration & timeout = ros::Duration(0, 0) )

inline

Waits for the ActionServer to connect to this client Often, it can take a second for the action server & client to negotiate a connection, thus, risking the first few goals to be dropped. This call lets the user wait until the network connection to the server is negotiated NOTE: Using this call in a single threaded ROS application, or any application where the action client's callback queue is not being serviced, will not work. Without a separate thread servicing the queue, or a multi-threaded spinner, there is no way for the client to tell whether or not the server is up because it can't receive a status message.

Parameters

timeout Max time to block before returning. A zero timeout is interpreted as an infinite timeout.