A Simple client implementation of the ActionInterface which supports only one goal at a time. More...

#include <simple_action_client.h>

Public Types
typedef boost::function< void() >	SimpleActiveCallback
typedef boost::function< void(const SimpleClientGoalState &state, const ResultConstPtr &result) >	SimpleDoneCallback
typedef boost::function< void(const FeedbackConstPtr &feedback) >	SimpleFeedbackCallback
Public Member Functions
void	cancelAllGoals ()
	Cancel all goals currently running on the action server.
void	cancelGoal ()
	Cancel the goal that we are currently pursuing.
void	cancelGoalsAtAndBeforeTime (const ros::Time &time)
	Cancel all goals that were stamped at and before the specified time.
ResultConstPtr	getResult ()
	Get the Result of the current goal.
SimpleClientGoalState	getState ()
	Get the state information for this goal.
bool	isServerConnected ()
	Checks if the action client is successfully connected to the action server.
void	sendGoal (const Goal &goal, SimpleDoneCallback done_cb=SimpleDoneCallback(), SimpleActiveCallback active_cb=SimpleActiveCallback(), SimpleFeedbackCallback feedback_cb=SimpleFeedbackCallback())
	Sends a goal to the ActionServer, and also registers callbacks.
SimpleClientGoalState	sendGoalAndWait (const Goal &goal, const ros::Duration &execute_timeout=ros::Duration(0, 0), const ros::Duration &preempt_timeout=ros::Duration(0, 0))
	Sends a goal to the ActionServer, and waits until the goal completes or a timeout is exceeded.
	SimpleActionClient (const std::string &name, bool spin_thread=true)
	Simple constructor.
	SimpleActionClient (ros::NodeHandle &n, const std::string &name, bool spin_thread=true)
	Constructor with namespacing options.
void	stopTrackingGoal ()
	Stops tracking the state of the current goal. Unregisters this goal's callbacks.
bool	waitForResult (const ros::Duration &timeout=ros::Duration(0, 0))
	Blocks until this goal finishes.
bool	waitForServer (const ros::Duration &timeout=ros::Duration(0, 0))
	Waits for the ActionServer to connect to this client.
	~SimpleActionClient ()
Private Types
typedef ActionClient< ActionSpec >	ActionClientT
typedef ClientGoalHandle < ActionSpec >	GoalHandleT
typedef SimpleActionClient < ActionSpec >	SimpleActionClientT
Private Member Functions
	ACTION_DEFINITION (ActionSpec)
void	handleFeedback (GoalHandleT gh, const FeedbackConstPtr &feedback)
void	handleTransition (GoalHandleT gh)
void	initSimpleClient (ros::NodeHandle &n, const std::string &name, bool spin_thread)
void	setSimpleState (const SimpleGoalState::StateEnum &next_state)
void	setSimpleState (const SimpleGoalState &next_state)
void	spinThread ()
Private Attributes
boost::scoped_ptr< ActionClientT >	ac_
SimpleActiveCallback	active_cb_
ros::CallbackQueue	callback_queue
SimpleGoalState	cur_simple_state_
SimpleDoneCallback	done_cb_
boost::condition	done_condition_
boost::mutex	done_mutex_
SimpleFeedbackCallback	feedback_cb_
GoalHandleT	gh_
bool	need_to_terminate_
ros::NodeHandle	nh_
boost::thread *	spin_thread_
boost::mutex	terminate_mutex_

Detailed Description

template<class ActionSpec>
class actionlib::SimpleActionClient< ActionSpec >

A Simple client implementation of the ActionInterface which supports only one goal at a time.

The SimpleActionClient wraps the exisitng ActionClient, and exposes a limited set of easy-to-use hooks for the user. Note that the concept of GoalHandles has been completely hidden from the user, and that they must query the SimplyActionClient directly in order to monitor a goal.

Definition at line 68 of file simple_action_client.h.

Member Typedef Documentation

template<class ActionSpec>

typedef ActionClient<ActionSpec> actionlib::SimpleActionClient< ActionSpec >::ActionClientT [private]

Definition at line 214 of file simple_action_client.h.

template<class ActionSpec>

typedef ClientGoalHandle<ActionSpec> actionlib::SimpleActionClient< ActionSpec >::GoalHandleT [private]

Definition at line 72 of file simple_action_client.h.

template<class ActionSpec>

typedef SimpleActionClient<ActionSpec> actionlib::SimpleActionClient< ActionSpec >::SimpleActionClientT [private]

Definition at line 73 of file simple_action_client.h.

template<class ActionSpec>

typedef boost::function<void () > actionlib::SimpleActionClient< ActionSpec >::SimpleActiveCallback

Definition at line 77 of file simple_action_client.h.

template<class ActionSpec>

typedef boost::function<void (const SimpleClientGoalState& state, const ResultConstPtr& result) > actionlib::SimpleActionClient< ActionSpec >::SimpleDoneCallback

Definition at line 76 of file simple_action_client.h.

template<class ActionSpec>

typedef boost::function<void (const FeedbackConstPtr& feedback) > actionlib::SimpleActionClient< ActionSpec >::SimpleFeedbackCallback

Definition at line 78 of file simple_action_client.h.

Constructor & Destructor Documentation

template<class ActionSpec>

actionlib::SimpleActionClient< ActionSpec >::SimpleActionClient	(	const std::string &	name,
		bool	spin_thread = `true`
	)		`[inline]`

Simple constructor.

Constructs a SingleGoalActionClient and sets up the necessary ros topics for the ActionInterface

Parameters:

name	The action name. Defines the namespace in which the action communicates
spin_thread	If true, spins up a thread to service this action's subscriptions. If false, then the user has to call ros::spin() themselves. Defaults to True

Definition at line 88 of file simple_action_client.h.

template<class ActionSpec>

actionlib::SimpleActionClient< ActionSpec >::SimpleActionClient	(	ros::NodeHandle &	n,
		const std::string &	name,
		bool	spin_thread = `true`
	)		`[inline]`

Constructor with namespacing options.

Constructs a SingleGoalActionClient and sets up the necessary ros topics for the ActionInterface, and namespaces them according the a specified NodeHandle

Parameters:

n	The node handle on top of which we want to namespace our action
name	The action name. Defines the namespace in which the action communicates
spin_thread	If true, spins up a thread to service this action's subscriptions. If false, then the user has to call ros::spin() themselves. Defaults to True

Definition at line 103 of file simple_action_client.h.

template<class ActionSpec >

actionlib::SimpleActionClient< ActionSpec >::~SimpleActionClient ( )

Definition at line 266 of file simple_action_client.h.

Member Function Documentation

template<class ActionSpec>

actionlib::SimpleActionClient< ActionSpec >::ACTION_DEFINITION ( ActionSpec ) [private]

template<class ActionSpec >

void actionlib::SimpleActionClient< ActionSpec >::cancelAllGoals ( )

Cancel all goals currently running on the action server.

This preempts all goals running on the action server at the point that this message is serviced by the ActionServer.

Definition at line 409 of file simple_action_client.h.

template<class ActionSpec >

void actionlib::SimpleActionClient< ActionSpec >::cancelGoal ( )

Cancel the goal that we are currently pursuing.

Definition at line 421 of file simple_action_client.h.

template<class ActionSpec >

void actionlib::SimpleActionClient< ActionSpec >::cancelGoalsAtAndBeforeTime ( const ros::Time & time )

Cancel all goals that were stamped at and before the specified time.

Parameters:

time	All goals stamped at or before `time` will be canceled

Definition at line 415 of file simple_action_client.h.

template<class ActionSpec >

SimpleActionClient< ActionSpec >::ResultConstPtr actionlib::SimpleActionClient< ActionSpec >::getResult ( )

Get the Result of the current goal.

Returns:: shared pointer to the result. Note that this pointer will NEVER be NULL

Definition at line 396 of file simple_action_client.h.

template<class ActionSpec >

SimpleClientGoalState actionlib::SimpleActionClient< ActionSpec >::getState ( )

Get the state information for this goal.

Possible States Are: PENDING, ACTIVE, RECALLED, REJECTED, PREEMPTED, ABORTED, SUCCEEDED, LOST.

Returns:: The goal's state. Returns LOST if this SimpleActionClient isn't tracking a goal.

Definition at line 332 of file simple_action_client.h.

template<class ActionSpec >

void actionlib::SimpleActionClient< ActionSpec >::handleFeedback	(	GoalHandleT	gh,
		const FeedbackConstPtr &	feedback
	)		`[private]`

Definition at line 438 of file simple_action_client.h.

template<class ActionSpec >

void actionlib::SimpleActionClient< ActionSpec >::handleTransition ( GoalHandleT gh ) [private]

Definition at line 449 of file simple_action_client.h.

template<class ActionSpec >

void actionlib::SimpleActionClient< ActionSpec >::initSimpleClient	(	ros::NodeHandle &	n,
		const std::string &	name,
		bool	spin_thread
	)		`[private]`

Definition at line 249 of file simple_action_client.h.

template<class ActionSpec>

bool actionlib::SimpleActionClient< ActionSpec >::isServerConnected ( ) [inline]

Checks if the action client is successfully connected to the action server.

Returns:: True if the server is connected, false otherwise

Definition at line 131 of file simple_action_client.h.

template<class ActionSpec >

void actionlib::SimpleActionClient< ActionSpec >::sendGoal	(	const Goal &	goal,
		SimpleDoneCallback	done_cb = `SimpleDoneCallback()`,
		SimpleActiveCallback	active_cb = `SimpleActiveCallback()`,
		SimpleFeedbackCallback	feedback_cb = `SimpleFeedbackCallback()`
	)

Sends a goal to the ActionServer, and also registers callbacks.

If a previous goal is already active when this is called. We simply forget about that goal and start tracking the new goal. No cancel requests are made.

Parameters:

done_cb	Callback that gets called on transitions to Done
active_cb	Callback that gets called on transitions to Active
feedback_cb	Callback that gets called whenever feedback for this goal is received

Definition at line 311 of file simple_action_client.h.

template<class ActionSpec >

SimpleClientGoalState actionlib::SimpleActionClient< ActionSpec >::sendGoalAndWait	(	const Goal &	goal,
		const ros::Duration &	execute_timeout = `ros::Duration(0,0)`,
		const ros::Duration &	preempt_timeout = `ros::Duration(0,0)`
	)

Sends a goal to the ActionServer, and waits until the goal completes or a timeout is exceeded.

If the goal doesn't complete by the execute_timeout, then a preempt message is sent. This call then waits up to the preempt_timeout for the goal to then finish.

Parameters:

goal	The goal to be sent to the ActionServer
execute_timeout	Time to wait until a preempt is sent. 0 implies wait forever
preempt_timeout	Time to wait after a preempt is sent. 0 implies wait forever

Returns:: The state of the goal when this call is completed

Definition at line 584 of file simple_action_client.h.

template<class ActionSpec >

void actionlib::SimpleActionClient< ActionSpec >::setSimpleState ( const SimpleGoalState::StateEnum & next_state ) [private]

Definition at line 296 of file simple_action_client.h.

template<class ActionSpec >

void actionlib::SimpleActionClient< ActionSpec >::setSimpleState ( const SimpleGoalState & next_state ) [private]

Definition at line 302 of file simple_action_client.h.

template<class ActionSpec >

void actionlib::SimpleActionClient< ActionSpec >::spinThread ( ) [private]

Definition at line 282 of file simple_action_client.h.

template<class ActionSpec >

void actionlib::SimpleActionClient< ActionSpec >::stopTrackingGoal ( )

Stops tracking the state of the current goal. Unregisters this goal's callbacks.

This is useful if we want to make sure we stop calling our callbacks before sending a new goal. Note that this does not cancel the goal, it simply stops looking for status info about this goal.

Definition at line 430 of file simple_action_client.h.

template<class ActionSpec >

bool actionlib::SimpleActionClient< ActionSpec >::waitForResult ( const ros::Duration & timeout = ros::Duration(0,0) )

Blocks until this goal finishes.

Parameters:

timeout Max time to block before returning. A zero timeout is interpreted as an infinite timeout.

Returns:: True if the goal finished. False if the goal didn't finish within the allocated timeout

Definition at line 538 of file simple_action_client.h.

template<class ActionSpec>

bool actionlib::SimpleActionClient< ActionSpec >::waitForServer ( const ros::Duration & timeout = ros::Duration(0,0) ) [inline]

Waits for the ActionServer to connect to this client.

Often, it can take a second for the action server & client to negotiate a connection, thus, risking the first few goals to be dropped. This call lets the user wait until the network connection to the server is negotiated. NOTE: Using this call in a single threaded ROS application, or any application where the action client's callback queue is not being serviced, will not work. Without a separate thread servicing the queue, or a multi-threaded spinner, there is no way for the client to tell whether or not the server is up because it can't receive a status message.

Parameters:

timeout Max time to block before returning. A zero timeout is interpreted as an infinite timeout.