The ActionServer is a helpful tool for managing goal requests to a node. It allows the user to specify callbacks that are invoked when goal or cancel requests come over the wire, and passes back GoalHandles that can be used to track the state of a given goal request. The ActionServer makes no assumptions about the policy used to service these goals, and sends status for each goal over the wire until the last GoalHandle associated with a goal request is destroyed. More...

#include <action_server.h>

Inheritance diagram for actionlib::ActionServer< ActionSpec >:

[legend]

List of all members.

Public Types
typedef ServerGoalHandle < ActionSpec >	GoalHandle
Public Member Functions
	ACTION_DEFINITION (ActionSpec)
	ActionServer (ros::NodeHandle n, std::string name, boost::function< void(GoalHandle)> goal_cb, boost::function< void(GoalHandle)> cancel_cb, bool auto_start)
	Constructor for an ActionServer.
	ActionServer (ros::NodeHandle n, std::string name, boost::function< void(GoalHandle)> goal_cb, bool auto_start)
	Constructor for an ActionServer.
ROS_DEPRECATED	ActionServer (ros::NodeHandle n, std::string name, boost::function< void(GoalHandle)> goal_cb, boost::function< void(GoalHandle)> cancel_cb=boost::function< void(GoalHandle)>())
	DEPRECATED Constructor for an ActionServer.
	ActionServer (ros::NodeHandle n, std::string name, bool auto_start)
	Constructor for an ActionServer.
ROS_DEPRECATED	ActionServer (ros::NodeHandle n, std::string name)
	DEPRECATED Constructor for an ActionServer.
virtual	~ActionServer ()
	Destructor for the ActionServer.
Private Member Functions
virtual void	initialize ()
	Initialize all ROS connections and setup timers.
virtual void	publishFeedback (const actionlib_msgs::GoalStatus &status, const Feedback &feedback)
	Publishes feedback for a given goal.
virtual void	publishResult (const actionlib_msgs::GoalStatus &status, const Result &result)
	Publishes a result for a given goal.
virtual void	publishStatus ()
	Explicitly publish status.
void	publishStatus (const ros::TimerEvent &e)
	Publish status for all goals on a timer event.
Private Attributes
ros::Subscriber	cancel_sub_
ros::Publisher	feedback_pub_
ros::Subscriber	goal_sub_
ros::NodeHandle	node_
ros::Publisher	result_pub_
ros::Publisher	status_pub_
ros::Timer	status_timer_

Detailed Description

template<class ActionSpec>
class actionlib::ActionServer< ActionSpec >

The ActionServer is a helpful tool for managing goal requests to a node. It allows the user to specify callbacks that are invoked when goal or cancel requests come over the wire, and passes back GoalHandles that can be used to track the state of a given goal request. The ActionServer makes no assumptions about the policy used to service these goals, and sends status for each goal over the wire until the last GoalHandle associated with a goal request is destroyed.

Definition at line 72 of file action_server.h.

Member Typedef Documentation

template<class ActionSpec>

typedef ServerGoalHandle<ActionSpec> actionlib::ActionServer< ActionSpec >::GoalHandle

Reimplemented from actionlib::ActionServerBase< ActionSpec >.

Reimplemented in actionlib::RefServer.

Definition at line 76 of file action_server.h.

Constructor & Destructor Documentation

template<class ActionSpec >

actionlib::ActionServer< ActionSpec >::ActionServer	(	ros::NodeHandle	n,
		std::string	name,
		boost::function< void(GoalHandle)>	goal_cb,
		boost::function< void(GoalHandle)>	cancel_cb,
		bool	auto_start
	)

Constructor for an ActionServer.

Parameters:

n	A NodeHandle to create a namespace under
name	The name of the action
goal_cb	A goal callback to be called when the ActionServer receives a new goal over the wire
cancel_cb	A cancel callback to be called when the ActionServer receives a new cancel request over the wire
auto_start	A boolean value that tells the ActionServer whether or not to start publishing as soon as it comes up. THIS SHOULD ALWAYS BE SET TO FALSE TO AVOID RACE CONDITIONS and start() should be called after construction of the server.

Definition at line 80 of file action_server_imp.h.

template<class ActionSpec >

actionlib::ActionServer< ActionSpec >::ActionServer	(	ros::NodeHandle	n,
		std::string	name,
		boost::function< void(GoalHandle)>	goal_cb,
		bool	auto_start
	)

Constructor for an ActionServer.

Parameters:

n	A NodeHandle to create a namespace under
name	The name of the action
goal_cb	A goal callback to be called when the ActionServer receives a new goal over the wire
auto_start	A boolean value that tells the ActionServer whether or not to start publishing as soon as it comes up. THIS SHOULD ALWAYS BE SET TO FALSE TO AVOID RACE CONDITIONS and start() should be called after construction of the server.

Definition at line 115 of file action_server_imp.h.

template<class ActionSpec >

actionlib::ActionServer< ActionSpec >::ActionServer	(	ros::NodeHandle	n,
		std::string	name,
		boost::function< void(GoalHandle)>	goal_cb,
		boost::function< void(GoalHandle)>	cancel_cb = `boost::function<void(GoalHandle)>()`
	)

DEPRECATED Constructor for an ActionServer.

Parameters:

n	A NodeHandle to create a namespace under
name	The name of the action
goal_cb	A goal callback to be called when the ActionServer receives a new goal over the wire
cancel_cb	A cancel callback to be called when the ActionServer receives a new cancel request over the wire

Definition at line 98 of file action_server_imp.h.

template<class ActionSpec >

actionlib::ActionServer< ActionSpec >::ActionServer	(	ros::NodeHandle	n,
		std::string	name,
		bool	auto_start
	)

Constructor for an ActionServer.

Parameters:

n	A NodeHandle to create a namespace under
name	The name of the action
auto_start	A boolean value that tells the ActionServer whether or not to start publishing as soon as it comes up. THIS SHOULD ALWAYS BE SET TO FALSE TO AVOID RACE CONDITIONS and start() should be called after construction of the server.

Definition at line 47 of file action_server_imp.h.

template<class ActionSpec >

actionlib::ActionServer< ActionSpec >::ActionServer	(	ros::NodeHandle	n,
		std::string	name
	)

DEPRECATED Constructor for an ActionServer.

Parameters:

n	A NodeHandle to create a namespace under
name	The name of the action

Definition at line 64 of file action_server_imp.h.

template<class ActionSpec >

actionlib::ActionServer< ActionSpec >::~ActionServer ( ) [virtual]

Destructor for the ActionServer.

Definition at line 132 of file action_server_imp.h.

Member Function Documentation

template<class ActionSpec>

actionlib::ActionServer< ActionSpec >::ACTION_DEFINITION ( ActionSpec )

Reimplemented from actionlib::ActionServerBase< ActionSpec >.

template<class ActionSpec >

void actionlib::ActionServer< ActionSpec >::initialize ( ) [private, virtual]

Initialize all ROS connections and setup timers.

Implements actionlib::ActionServerBase< ActionSpec >.

Definition at line 137 of file action_server_imp.h.

template<class ActionSpec >

void actionlib::ActionServer< ActionSpec >::publishFeedback	(	const actionlib_msgs::GoalStatus &	status,
		const Feedback &	feedback
	)		`[private, virtual]`