Function rcl_action_publish_feedback

Function Documentation

rcl_ret_t rcl_action_publish_feedback(const rcl_action_server_t *action_server, void *ros_feedback)

Publish a ROS feedback message for an active goal using an action server.

The caller is responsible for ensuring that the type of ros_feedback and the type associate with the client (via the type support) match. Passing a different type produces undefined behavior and cannot be checked by this function and therefore no deliberate error will occur.

This function acts like a ROS publisher and is potentially a blocking call.

This function is thread safe so long as access to both the action server and

ros_feedback is synchronized. That means that calling rcl_action_publish_feedback() from multiple threads is allowed, but calling rcl_action_publish_feedback() at the same time as non-thread safe action server functions is not, e.g. calling rcl_action_publish_feedback() and rcl_action_server_fini() concurrently is not allowed.

See also

rcl_publish()

Before calling rcl_action_publish_feedback() the ros_feedback message ca change and after calling rcl_action_publish_feedback() the ros_feedback message can change, but it cannot be changed during the publish call. The same ros_feedback can be passed to multiple calls of rcl_action_publish_feedback() simultaneously, even if the action servers differ. ros_feedback is unmodified by rcl_action_publish_feedback().

Attribute

Adherence

Allocates Memory

No

Thread-Safe

Yes [1]

Uses Atomics

No

Lock-Free

Yes

[1] for unique pairs of action servers and feedback, see above for more

Parameters:

  • action_server – [in] handle to the action server that will publish the feedback

  • ros_feedback – [in] a ROS message containing the goal feedback

Returns:

RCL_RET_OK if the response was sent successfully, or

Returns:

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

Returns:

RCL_RET_ACTION_SERVER_INVALID if the action server is invalid, or

Returns:

RCL_RET_ERROR if an unspecified error occurs. *