Function rcl_action_client_configure_action_introspection

Function Documentation

rcl_ret_t rcl_action_client_configure_action_introspection(rcl_action_client_t *action_client, rcl_node_t *node, rcl_clock_t *clock, const rosidl_action_type_support_t *type_support, const rcl_publisher_options_t publisher_options, rcl_service_introspection_state_t introspection_state)

Configures service introspection features for all internal service clients of the action client.

For the internal goal, cancel, and result clients of the action client, call rcl_client_configure_service_introspection separately for each.

Attribute

Adherence

Allocates Memory

Yes

Thread-Safe

No

Uses Atomics

Maybe [1]

Lock-Free

Maybe [1]

[1] rmw implementation defined

Parameters:

  • action_client – [in] action client on which to configure internal service introspection

  • node – [in] valid rcl_node_t to use to create the introspection publisher

  • clock – [in] valid rcl_clock_t to use to generate the introspection timestamps

  • type_support – [in] type support library associated with this action client

  • publisher_options – [in] options to use when creating the introspection publisher

  • introspection_state – [in] rcl_service_introspection_state_t describing whether introspection should be OFF, METADATA, or CONTENTS

Returns:

RCL_RET_OK if the call was successful, or

Returns:

RCL_RET_ERROR if calling rcl_client_configure_service_introspection for each internal client doesn’t return RCL_RET_OK, or

Returns:

RCL_RET_INVALID_ARGUMENT if the given node or clock or type_support is invalid