Function rcl_action_client_fini

Function Documentation

rcl_ret_t rcl_action_client_fini(rcl_action_client_t *action_client, rcl_node_t *node)

Finalize a rcl_action_client_t.

After calling, the node will no longer listen for goals for this action client (assuming this is the only action client of this type in this node).

After calling, calls to rcl_wait(), rcl_action_send_goal_request(), rcl_action_take_goal_response(), rcl_action_send_cancel_request(), rcl_action_take_cancel_response(), rcl_action_send_result_request(), rcl_action_take_result_response(), rcl_action_take_feedback(), and rcl_action_take_status(), will fail when using this action client.

Additionally, rcl_wait() will be interrupted if currently blocking.

The given node handle is still valid.

Attribute

Adherence

Allocates Memory

Yes

Thread-Safe

No

Uses Atomics

No

Lock-Free

Yes

Parameters:

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

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

Returns:

RCL_RET_OK if the action client was deinitialized successfully, or

Returns:

RCL_RET_ACTION_CLIENT_INVALID if the action client is invalid, or

Returns:

RCL_RET_NODE_INVALID if the node is invalid, or

Returns:

RCL_RET_ERROR if an unspecified error occurs.