Function rclc_executor_add_action_server

• Defined in File executor.h

Function Documentation

rcl_ret_t rclc_executor_add_action_server(rclc_executor_t *executor, rclc_action_server_t *action_server, size_t handles_number, void *ros_goal_request, size_t ros_goal_request_size, rclc_action_server_handle_goal_callback_t goal_callback, rclc_action_server_handle_cancel_callback_t cancel_callback, void *context)

Adds an action server to an executor.

• An error is returned if rclc_executor_t.handles array is full.

• The total number_of_action_servers field of rclc_executor_t.info is incremented by one.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters:

• executor – [inout] pointer to initialized executor

• action_server – [in] pointer to a allocated and initialized action server

• handles_number – [in] max number of goals to handle with the server

• ros_goal_request – [in] type-erased ptr to an allocated ROS goal request message

• ros_goal_request_size – [in] size of the ROS goal request message type

• goal_callback – [in] function pointer to a goal request callback

• cancel_callback – [in] function pointer to a cancel request callback

• context – [in] context to pass to the callback functions

Returns:

RCL_RET_OK if add-operation was successful

Returns:

RCL_RET_INVALID_ARGUMENT if any parameter is a null pointer

Returns:

RCL_RET_ERROR if any other error occured