Class ExecutorClient

• Defined in File ExecutorClient.hpp

Class Documentation

class ExecutorClient

Public Types

using ExecutePlan = plansys2_msgs::action::ExecutePlan

using GoalHandleExecutePlan = rclcpp_action::ClientGoalHandle<ExecutePlan>

Public Functions

ExecutorClient()

explicit ExecutorClient(const std::string &node_name)

bool start_plan_execution(const plansys2_msgs::msg::Plan &plan)

bool execute_and_check_plan()

void cancel_plan_execution()

std::vector<plansys2_msgs::msg::Tree> getOrderedSubGoals()

std::optional<plansys2_msgs::msg::Plan> getPlan()

inline ExecutePlan::Feedback getFeedBack()

std::optional<ExecutePlan::Result> getResult()