Template Function rclcpp_action::create_client(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr, rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr, const std::string&, rclcpp::CallbackGroup::SharedPtr, const rcl_action_client_options_t&)

Function Documentation

template<typename ActionT>
Client<ActionT>::SharedPtr rclcpp_action::create_client(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface, rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_interface, const std::string &name, rclcpp::CallbackGroup::SharedPtr group = nullptr, const rcl_action_client_options_t &options = rcl_action_client_get_default_options())

Create an action client.

This function is equivalent to

Parameters:
  • node_base_interface[in] The node base interface of the corresponding node.

  • node_graph_interface[in] The node graph interface of the corresponding node.

  • node_logging_interface[in] The node logging interface of the corresponding node.

  • node_waitables_interface[in] The node waitables interface of the corresponding node.

  • name[in] The action name.

  • group[in] The action client will be added to this callback group. If nullptr, then the action client is added to the default callback group.

  • options[in] Options to pass to the underlying rcl_action_client_t.