Function rcl_action_goal_handle_get_info

• Defined in File goal_handle.h

Function Documentation

rcl_ret_t rcl_action_goal_handle_get_info(const rcl_action_goal_handle_t *goal_handle, rcl_action_goal_info_t *goal_info)

Get the ID of a goal using a rcl_action_goal_handle_t.

This is a non-blocking call.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters:

• goal_handle – [in] struct containing the goal and meta

• goal_info – [out] a preallocated struct where the goal info is copied

Returns:

RCL_RET_OK if the goal ID was accessed successfully, or

Returns:

RCL_RET_ACTION_GOAL_HANDLE_INVALID if the goal handle is invalid, or

Returns:

RCL_RET_INVALID_ARGUMENT if the goal_info argument is invalid