simple_actions package

Submodules

• simple_actions.simple_client module
  • ResultCode
    • ResultCode.ABORTED
    • ResultCode.CANCELED
    • ResultCode.REJECTED
    • ResultCode.SUCCEEDED
    • ResultCode.UNKNOWN
  • SimpleActionClient
    • SimpleActionClient.send_goal()
    • SimpleActionClient.wait_for_server()
• simple_actions.simple_server module
  • SimpleActionServer
    • SimpleActionServer.is_active()
    • SimpleActionServer.is_cancel_requested()
    • SimpleActionServer.is_executing()
    • SimpleActionServer.publish_feedback()
• simple_actions.utilities module
  • get_action_name()

Module contents

class simple_actions.SimpleActionClient(node, action_type, action_namespace, wait_for_server=True)

Bases: object

Simple wrapper around rclpy action client for easier usage. Assumes only one action at a time.

The ResultCallback should take two parameters, a ResultCode and the Action result

The FeedbackCallback should take a single parameter for the Action feedback

send_goal(goal_msg, result_callback=None, feedback_callback=None)

Send a goal, and return immediately.

wait_for_server()

Wait indefinitely for the server to come up. Will print a message after 10 seconds.

class simple_actions.SimpleActionServer(node, action_type, action_namespace, execute_callback)

Bases: object

Simple wrapper around rclpy action server for “easier” usage. Assumes only one action at a time.

The Execute callback should return a Result if successful. Otherwise it will be unsuccessful.

is_active()

is_cancel_requested()

is_executing()

publish_feedback(feedback)

Publish feedback on the active action.