actionlib.action_client.ActionClient Class Reference

Public Member Functions
def	__init__ (self, ns, ActionSpec)
	Constructs an ActionClient and opens connections to an ActionServer. More...
def	cancel_all_goals (self)
	Cancels all goals currently running on the action server. More...
def	cancel_goals_at_and_before_time (self, time)
	Cancels all goals prior to a given timestamp. More...
def	send_goal (self, goal, transition_cb=None, feedback_cb=None)
	Sends a goal to the action server. More...
def	wait_for_action_server_to_start (self, timeout=rospy.Duration(0.0))
	[Deprecated] Use wait_for_server More...
def	wait_for_server (self, timeout=rospy.Duration(0.0))
	Waits for the ActionServer to connect to this client. More...

Public Attributes
	ActionFeedback
	ActionGoal
	ActionResult
	ActionSpec
	feedback_sub
	last_status_msg
	manager
	ns
	pub_cancel
	pub_goal
	pub_queue_size
	result_sub
	status_sub
	sub_queue_size

Private Member Functions
def	_feedback_cb (self, msg)
def	_result_cb (self, msg)
def	_status_cb (self, msg)

Detailed Description

Definition at line 499 of file action_client.py.

Constructor & Destructor Documentation

__init__()

def actionlib.action_client.ActionClient.__init__	(		self,
			ns,
			ActionSpec
	)

Constructs an ActionClient and opens connections to an ActionServer.

Parameters

ns	The namespace in which to access the action. For example, the "goal" topic should occur under ns/goal
ActionSpec	The *Action message type. The ActionClient will grab the other message types from this type.

Definition at line 507 of file action_client.py.

Member Function Documentation

_feedback_cb()

def actionlib.action_client.ActionClient._feedback_cb (   self,   msg  )

private

Definition at line 627 of file action_client.py.

_result_cb()

def actionlib.action_client.ActionClient._result_cb (   self,   msg  )

private

Definition at line 624 of file action_client.py.

_status_cb()

def actionlib.action_client.ActionClient._status_cb (   self,   msg  )

private

Definition at line 620 of file action_client.py.

cancel_all_goals()

def actionlib.action_client.ActionClient.cancel_all_goals

(

self

)

Cancels all goals currently running on the action server.

Preempts all goals running on the action server at the point that the cancel message is serviced by the action server.

Definition at line 559 of file action_client.py.

cancel_goals_at_and_before_time()

def actionlib.action_client.ActionClient.cancel_goals_at_and_before_time	(		self,
			time
	)

Cancels all goals prior to a given timestamp.

This preempts all goals running on the action server for which the time stamp is earlier than the specified time stamp this message is serviced by the ActionServer.

Definition at line 569 of file action_client.py.

send_goal()

def actionlib.action_client.ActionClient.send_goal	(		self,
			goal,
			transition_cb = None,
			feedback_cb = None
	)

Sends a goal to the action server.

Parameters

goal	An instance of the *Goal message.
transition_cb	Callback that gets called on every client state transition for the sent goal. It should take in a ClientGoalHandle as an argument.
feedback_cb	Callback that gets called every time feedback is received for the sent goal. It takes two parameters: a ClientGoalHandle and an instance of the *Feedback message.

Returns

ClientGoalHandle for the sent goal.

Definition at line 552 of file action_client.py.

wait_for_action_server_to_start()

def actionlib.action_client.ActionClient.wait_for_action_server_to_start	(		self,
			timeout = rospy.Duration(0.0)
	)

[Deprecated] Use wait_for_server

Definition at line 574 of file action_client.py.

wait_for_server()

def actionlib.action_client.ActionClient.wait_for_server	(		self,
			timeout = rospy.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

Definition at line 582 of file action_client.py.

Member Data Documentation

ActionFeedback

actionlib.action_client.ActionClient.ActionFeedback

Definition at line 517 of file action_client.py.

ActionGoal

actionlib.action_client.ActionClient.ActionGoal

Definition at line 515 of file action_client.py.

ActionResult

actionlib.action_client.ActionClient.ActionResult

Definition at line 516 of file action_client.py.

ActionSpec

actionlib.action_client.ActionClient.ActionSpec

Definition at line 514 of file action_client.py.

feedback_sub

actionlib.action_client.ActionClient.feedback_sub

Definition at line 536 of file action_client.py.

last_status_msg

actionlib.action_client.ActionClient.last_status_msg

Definition at line 509 of file action_client.py.

manager

actionlib.action_client.ActionClient.manager

Definition at line 527 of file action_client.py.

ns

actionlib.action_client.ActionClient.ns

Definition at line 508 of file action_client.py.

pub_cancel

actionlib.action_client.ActionClient.pub_cancel

Definition at line 525 of file action_client.py.

pub_goal

actionlib.action_client.ActionClient.pub_goal

Definition at line 524 of file action_client.py.

pub_queue_size

actionlib.action_client.ActionClient.pub_queue_size

Definition at line 521 of file action_client.py.

result_sub

actionlib.action_client.ActionClient.result_sub

Definition at line 535 of file action_client.py.

status_sub

actionlib.action_client.ActionClient.status_sub

Definition at line 534 of file action_client.py.

sub_queue_size

actionlib.action_client.ActionClient.sub_queue_size

Definition at line 531 of file action_client.py.

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

• action_client.py