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. More...

#include <action_server.h>

Inheritance diagram for actionlib::ActionServer< ActionSpec >:

[legend]

Public Types
typedef ServerGoalHandle< ActionSpec >	GoalHandle

Public Types inherited from actionlib::ActionServerBase< ActionSpec >
typedef ServerGoalHandle< ActionSpec >	GoalHandle

Public Member Functions
	ACTION_DEFINITION (ActionSpec)

	ActionServer (ros::NodeHandle n, std::string name, boost::function< void(GoalHandle)> goal_cb, boost::function< void(GoalHandle)> cancel_cb, bool auto_start)
	Constructor for an ActionServer. More...

	ActionServer (ros::NodeHandle n, std::string name, boost::function< void(GoalHandle)> goal_cb, bool auto_start)
	Constructor for an ActionServer. More...

ROS_DEPRECATED	ActionServer (ros::NodeHandle n, std::string name, boost::function< void(GoalHandle)> goal_cb, boost::function< void(GoalHandle)> cancel_cb=boost::function< void(GoalHandle)>())
	DEPRECATED Constructor for an ActionServer. More...

	ActionServer (ros::NodeHandle n, std::string name, bool auto_start)
	Constructor for an ActionServer. More...

ROS_DEPRECATED	ActionServer (ros::NodeHandle n, std::string name)
	DEPRECATED Constructor for an ActionServer. More...

virtual	~ActionServer ()
	Destructor for the ActionServer. More...

Public Member Functions inherited from actionlib::ActionServerBase< ActionSpec >
	ACTION_DEFINITION (ActionSpec)

	ActionServerBase (boost::function< void(GoalHandle)> goal_cb, boost::function< void(GoalHandle)> cancel_cb, bool auto_start=false)
	Constructor for an ActionServer. More...

void	cancelCallback (const boost::shared_ptr< const actionlib_msgs::GoalID > &goal_id)
	The ROS callback for cancel requests coming into the ActionServerBase. More...

void	goalCallback (const boost::shared_ptr< const ActionGoal > &goal)
	The ROS callback for goals coming into the ActionServerBase. More...

void	registerCancelCallback (boost::function< void(GoalHandle)> cb)
	Register a callback to be invoked when a new cancel is received, this will replace any previously registered callback. More...

void	registerGoalCallback (boost::function< void(GoalHandle)> cb)
	Register a callback to be invoked when a new goal is received, this will replace any previously registered callback. More...

void	start ()
	Explicitly start the action server, used it auto_start is set to false. More...

virtual	~ActionServerBase ()
	Destructor for the ActionServerBase. More...

Private Member Functions
virtual void	initialize ()
	Initialize all ROS connections and setup timers. More...

virtual void	publishFeedback (const actionlib_msgs::GoalStatus &status, const Feedback &feedback)
	Publishes feedback for a given goal. More...

virtual void	publishResult (const actionlib_msgs::GoalStatus &status, const Result &result)
	Publishes a result for a given goal. More...

virtual void	publishStatus ()
	Explicitly publish status. More...

void	publishStatus (const ros::TimerEvent &e)
	Publish status for all goals on a timer event. More...

Private Attributes
ros::Subscriber	cancel_sub_

ros::Publisher	feedback_pub_

ros::Subscriber	goal_sub_

ros::NodeHandle	node_

ros::Publisher	result_pub_

ros::Publisher	status_pub_

ros::Timer	status_timer_

Additional Inherited Members
Protected Attributes inherited from actionlib::ActionServerBase< ActionSpec >
boost::function< void(GoalHandle)>	cancel_callback_

boost::function< void(GoalHandle)>	goal_callback_

boost::shared_ptr< DestructionGuard >	guard_

GoalIDGenerator	id_generator_

ros::Time	last_cancel_

boost::recursive_mutex	lock_

bool	started_

std::list< StatusTracker< ActionSpec > >	status_list_

ros::Duration	status_list_timeout_

Detailed Description

template<class ActionSpec>
class actionlib::ActionServer< ActionSpec >

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 72 of file action_server.h.

Member Typedef Documentation

◆ GoalHandle

template<class ActionSpec>

typedef ServerGoalHandle<ActionSpec> actionlib::ActionServer< ActionSpec >::GoalHandle

Definition at line 76 of file action_server.h.

Constructor & Destructor Documentation

◆ ActionServer() [1/5]

template<class ActionSpec >

actionlib::ActionServer< ActionSpec >::ActionServer	(	ros::NodeHandle	n,
		std::string	name,
		boost::function< void(GoalHandle)>	goal_cb,
		boost::function< void(GoalHandle)>	cancel_cb,
		bool	auto_start
	)

Constructor for an ActionServer.

Parameters

n	A NodeHandle to create a namespace under
name	The name 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 whether 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 80 of file action_server_imp.h.

◆ ActionServer() [2/5]

template<class ActionSpec >

actionlib::ActionServer< ActionSpec >::ActionServer	(	ros::NodeHandle	n,
		std::string	name,
		boost::function< void(GoalHandle)>	goal_cb,
		bool	auto_start
	)

Constructor for an ActionServer.

Parameters

n	A NodeHandle to create a namespace under
name	The name of the action
goal_cb	A goal callback to be called when the ActionServer receives a new goal over the wire
auto_start	A boolean value that tells the ActionServer whether 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 115 of file action_server_imp.h.

◆ ActionServer() [3/5]

template<class ActionSpec >

actionlib::ActionServer< ActionSpec >::ActionServer	(	ros::NodeHandle	n,
		std::string	name,
		boost::function< void(GoalHandle)>	goal_cb,
		boost::function< void(GoalHandle)>	cancel_cb = `boost::function<void(GoalHandle)>()`
	)

DEPRECATED Constructor for an ActionServer.

Parameters

n	A NodeHandle to create a namespace under
name	The name 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

Definition at line 98 of file action_server_imp.h.

◆ ActionServer() [4/5]

template<class ActionSpec >

actionlib::ActionServer< ActionSpec >::ActionServer	(	ros::NodeHandle	n,
		std::string	name,
		bool	auto_start
	)

Constructor for an ActionServer.

Parameters

n	A NodeHandle to create a namespace under
name	The name of the action
auto_start	A boolean value that tells the ActionServer whether 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 47 of file action_server_imp.h.

◆ ActionServer() [5/5]

template<class ActionSpec >

actionlib::ActionServer< ActionSpec >::ActionServer	(	ros::NodeHandle	n,
		std::string	name
	)

DEPRECATED Constructor for an ActionServer.

Parameters

n	A NodeHandle to create a namespace under
name	The name of the action

Definition at line 64 of file action_server_imp.h.

◆ ~ActionServer()

template<class ActionSpec >

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

virtual

Destructor for the ActionServer.

Definition at line 132 of file action_server_imp.h.

Member Function Documentation

◆ ACTION_DEFINITION()

template<class ActionSpec>

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

◆ initialize()

template<class ActionSpec >

void actionlib::ActionServer< ActionSpec >::initialize ( )

privatevirtual

Initialize all ROS connections and setup timers.

Implements actionlib::ActionServerBase< ActionSpec >.

Definition at line 137 of file action_server_imp.h.

◆ publishFeedback()

template<class ActionSpec >

void actionlib::ActionServer< ActionSpec >::publishFeedback	(	const actionlib_msgs::GoalStatus &	status,
		const Feedback &	feedback
	)

privatevirtual

Publishes feedback for a given goal.

Parameters

status	The status of the goal with which the feedback is associated
feedback	The feedback to publish

Implements actionlib::ActionServerBase< ActionSpec >.

Definition at line 203 of file action_server_imp.h.

◆ publishResult()

template<class ActionSpec >

void actionlib::ActionServer< ActionSpec >::publishResult	(	const actionlib_msgs::GoalStatus &	status,
		const Result &	result
	)

privatevirtual

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

Implements actionlib::ActionServerBase< ActionSpec >.

Definition at line 187 of file action_server_imp.h.

◆ publishStatus() [1/2]

template<class ActionSpec >

void actionlib::ActionServer< ActionSpec >::publishStatus ( )

privatevirtual

Explicitly publish status.

Implements actionlib::ActionServerBase< ActionSpec >.

Definition at line 230 of file action_server_imp.h.

◆ publishStatus() [2/2]

template<class ActionSpec >

void actionlib::ActionServer< ActionSpec >::publishStatus ( const ros::TimerEvent & e )

template<class ActionSpec>

ros::Timer actionlib::ActionServer< ActionSpec >::status_timer_

private

Definition at line 173 of file action_server.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<class ActionSpec> class actionlib::ActionServer< ActionSpec >

Member Typedef Documentation

◆ GoalHandle

Constructor & Destructor Documentation

◆ ActionServer() [1/5]

◆ ActionServer() [2/5]

◆ ActionServer() [3/5]

◆ ActionServer() [4/5]

◆ ActionServer() [5/5]

◆ ~ActionServer()

Member Function Documentation

◆ ACTION_DEFINITION()

◆ initialize()

◆ publishFeedback()

◆ publishResult()

◆ publishStatus() [1/2]

◆ publishStatus() [2/2]

Member Data Documentation

◆ cancel_sub_

◆ feedback_pub_

◆ goal_sub_

◆ node_

◆ result_pub_

◆ status_pub_

◆ status_timer_

template<class ActionSpec>
class actionlib::ActionServer< ActionSpec >