C++ API

rcl: Common functionality ROS actions

rcl_action provides a pure C implementation of the ROS concept of an action. It builds on top of the implementation of topics and services in rcl.

rcl_action consists of functions and structs for the following ROS action entities:

• Action client

  • rcl_action/action_client.h

• Action server

  • rcl_action/action_server.h

• Goal handle

  • rcl_action/goal_handle.h

• Goal state machine

  • rcl_action/goal_state_machine.h

It also has some machinery that is necessary to wait on and act on these entities:

• Wait sets for waiting on actions clients and action servers to be ready

  • rcl_action/wait.h

Some useful abstractions and utilities:

• Return codes and other types

  • rcl_action/types.h

Class Hierarchy

• • Struct rcl_action_cancel_response_s
  • Struct rcl_action_client_options_s
  • Struct rcl_action_client_s
  • Struct rcl_action_goal_handle_s
  • Struct rcl_action_goal_status_array_s
  • Struct rcl_action_server_options_s
  • Struct rcl_action_server_s
  • Enum rcl_action_goal_event_e

File Hierarchy

• • Directory include
    • Directory rcl_action
      • File action_client.h
      • File action_server.h
      • File default_qos.h
      • File goal_handle.h
      • File goal_state_machine.h
      • File graph.h
      • File names.h
      • File rcl_action.h
      • File types.h
      • File visibility_control.h
      • File wait.h

Full C++ API

Classes and Structs

• Struct rcl_action_cancel_response_s

• Struct rcl_action_client_options_s

• Struct rcl_action_client_s

• Struct rcl_action_goal_handle_s

• Struct rcl_action_goal_status_array_s

• Struct rcl_action_server_options_s

• Struct rcl_action_server_s

Enums

• Enum rcl_action_goal_event_e

Functions

• Function rcl_action_accept_new_goal

• Function rcl_action_cancel_response_fini

• Function rcl_action_cancel_response_init

• Function rcl_action_client_fini

• Function rcl_action_client_get_action_name

• Function rcl_action_client_get_default_options

• Function rcl_action_client_get_options

• Function rcl_action_client_init

• Function rcl_action_client_is_valid

• Function rcl_action_client_set_cancel_client_callback

• Function rcl_action_client_set_feedback_subscription_callback

• Function rcl_action_client_set_goal_client_callback

• Function rcl_action_client_set_result_client_callback

• Function rcl_action_client_set_status_subscription_callback

• Function rcl_action_client_wait_set_get_entities_ready

• Function rcl_action_client_wait_set_get_num_entities

• Function rcl_action_expire_goals

• Function rcl_action_get_cancel_service_name

• Function rcl_action_get_client_names_and_types_by_node

• Function rcl_action_get_feedback_topic_name

• Function rcl_action_get_goal_service_name

• Function rcl_action_get_goal_status_array

• Function rcl_action_get_names_and_types

• Function rcl_action_get_result_service_name

• Function rcl_action_get_server_names_and_types_by_node

• Function rcl_action_get_status_topic_name

• Function rcl_action_get_zero_initialized_cancel_request

• Function rcl_action_get_zero_initialized_cancel_response

• Function rcl_action_get_zero_initialized_client

• Function rcl_action_get_zero_initialized_goal_handle

• Function rcl_action_get_zero_initialized_goal_info

• Function rcl_action_get_zero_initialized_goal_status_array

• Function rcl_action_get_zero_initialized_server

• Function rcl_action_goal_handle_fini

• Function rcl_action_goal_handle_get_info

• Function rcl_action_goal_handle_get_status

• Function rcl_action_goal_handle_init

• Function rcl_action_goal_handle_is_active

• Function rcl_action_goal_handle_is_cancelable

• Function rcl_action_goal_handle_is_valid

• Function rcl_action_goal_status_array_fini

• Function rcl_action_goal_status_array_init

• Function rcl_action_notify_goal_done

• Function rcl_action_process_cancel_request

• Function rcl_action_publish_feedback

• Function rcl_action_publish_status

• Function rcl_action_send_cancel_request

• Function rcl_action_send_cancel_response

• Function rcl_action_send_goal_request

• Function rcl_action_send_goal_response

• Function rcl_action_send_result_request

• Function rcl_action_send_result_response

• Function rcl_action_server_fini

• Function rcl_action_server_get_action_name

• Function rcl_action_server_get_default_options

• Function rcl_action_server_get_goal_handles

• Function rcl_action_server_get_options

• Function rcl_action_server_goal_exists

• Function rcl_action_server_init

• Function rcl_action_server_is_available

• Function rcl_action_server_is_valid

• Function rcl_action_server_is_valid_except_context

• Function rcl_action_server_set_cancel_service_callback

• Function rcl_action_server_set_goal_service_callback

• Function rcl_action_server_set_result_service_callback

• Function rcl_action_server_wait_set_get_entities_ready

• Function rcl_action_server_wait_set_get_num_entities

• Function rcl_action_take_cancel_request

• Function rcl_action_take_cancel_response

• Function rcl_action_take_feedback

• Function rcl_action_take_goal_request

• Function rcl_action_take_goal_response

• Function rcl_action_take_result_request

• Function rcl_action_take_result_response

• Function rcl_action_take_status

• Function rcl_action_transition_goal_state

• Function rcl_action_update_goal_state

• Function rcl_action_wait_set_add_action_client

• Function rcl_action_wait_set_add_action_server

Variables

• Variable goal_event_descriptions

• Variable goal_state_descriptions

• Variable rcl_action_qos_profile_status_default

Defines

• Define GOAL_STATE_ABORTED

• Define GOAL_STATE_ACCEPTED

• Define GOAL_STATE_CANCELED

• Define GOAL_STATE_CANCELING

• Define GOAL_STATE_EXECUTING

• Define GOAL_STATE_NUM_STATES

• Define GOAL_STATE_SUCCEEDED

• Define GOAL_STATE_UNKNOWN

• Define RCL_ACTION_EXPORT

• Define RCL_ACTION_IMPORT

• Define RCL_ACTION_LOCAL

• Define RCL_ACTION_PUBLIC

• Define RCL_ACTION_PUBLIC_TYPE

• Define RCL_RET_ACTION_CLIENT_INVALID

• Define RCL_RET_ACTION_CLIENT_TAKE_FAILED

• Define RCL_RET_ACTION_GOAL_ACCEPTED

• Define RCL_RET_ACTION_GOAL_EVENT_INVALID

• Define RCL_RET_ACTION_GOAL_HANDLE_INVALID

• Define RCL_RET_ACTION_GOAL_REJECTED

• Define RCL_RET_ACTION_NAME_INVALID

• Define RCL_RET_ACTION_SERVER_INVALID

• Define RCL_RET_ACTION_SERVER_TAKE_FAILED

• Define UUID_SIZE

• Define uuidcmp

• Define uuidcmpzero

• Define zerouuid

Typedefs

• Typedef rcl_action_cancel_request_t

• Typedef rcl_action_cancel_response_t

• Typedef rcl_action_client_impl_t

• Typedef rcl_action_client_options_t

• Typedef rcl_action_client_t

• Typedef rcl_action_goal_event_t

• Typedef rcl_action_goal_handle_impl_t

• Typedef rcl_action_goal_handle_t

• Typedef rcl_action_goal_info_t

• Typedef rcl_action_goal_state_t

• Typedef rcl_action_goal_status_array_t

• Typedef rcl_action_goal_status_t

• Typedef rcl_action_server_impl_t

• Typedef rcl_action_server_options_t

• Typedef rcl_action_server_t

Directories

• Directory include

• Directory rcl_action

Files

• File action_client.h

• File action_server.h

• File default_qos.h

• File goal_handle.h

• File goal_state_machine.h

• File graph.h

• File names.h

• File rcl_action.h

• File types.h

• File visibility_control.h

• File wait.h