simple_actions.simple_client module

class simple_actions.simple_client.ResultCode(value, names=None, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: Enum

Similar to action_msgs/msg/GoalStatus but also contains REJECTED.

ABORTED = 3

CANCELED = 2

REJECTED = 4

SUCCEEDED = 1

UNKNOWN = 0

class simple_actions.simple_client.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.