rosbridge_library.capabilities.advertise_action module

class rosbridge_library.capabilities.advertise_action.AdvertiseAction(protocol: Protocol)

Bases: Capability

actions_glob = None

advertise_action(message: dict) → None

advertise_action_msg_fields = ((True, 'action', <class 'str'>), (True, 'type', <class 'str'>))

class rosbridge_library.capabilities.advertise_action.AdvertisedActionHandler(action_name: str, action_type: str, protocol: Protocol, sleep_time: float = 0.001)

Bases: object

cancel_callback(cancel_request: rclpy.action.server.ServerGoalHandle) → rclpy.action.server.CancelResponse

Cancel action goal.

ActionServer callback for canceling an action goal.

async execute_callback(goal: Any) → Any

Execute action goal.

ActionServer callback for executing an action goal.

graceful_shutdown() → None

Signal the AdvertisedActionHandler to shutdown.

handle_abort(goal_id: str) → None

Handle action abort.

Called by the ActionResult capability to handle aborting action result from the external client.

handle_feedback(goal_id: str, feedback: Any) → None

Handle action feedback.

Called by the ActionFeedback capability to handle action feedback from the external client.

handle_result(goal_id: str, result: dict, status: int) → None

Handle action result.

Called by the ActionResult capability to handle a successful action result from the external client.

id_counter = 1

next_id() → int