Public Member Functions | Public Attributes
actionlib.action_server.ActionServer Class Reference

The ActionServer is a helpful tool for managing goal requests to a node. More...

Inheritance diagram for actionlib.action_server.ActionServer:
Inheritance graph
[legend]

List of all members.

Public Member Functions

def __init__
 Constructor for an ActionServer.
def initialize
 Initialize all ROS connections and setup timers.
def internal_cancel_callback
 The ROS callback for cancel requests coming into the ActionServer.
def internal_goal_callback
 The ROS callback for goals coming into the ActionServer.
def publish_feedback
 Publishes feedback for a given goal.
def publish_result
 Publishes a result for a given goal.
def publish_status
 Explicitly publish status.
def publish_status_async
 Publish status for all goals on a timer event.
def register_cancel_callback
 Register a callback to be invoked when a new cancel is received, this will replace any previously registered callback.
def register_goal_callback
 Register a callback to be invoked when a new goal is received, this will replace any previously registered callback.
def start
 Start the action server.

Public Attributes

 ActionFeedback
 ActionGoal
 ActionResult
 ActionResultType
 ActionSpec
 auto_start
 cancel_callback
 cancel_sub
 feedback_pub
 goal_callback
 goal_sub
 id_generator
 last_cancel
 lock
 ns
 pub_queue_size
 result_pub
 started
 status_frequency
 status_list
 status_list_timeout
 status_pub
 status_timer
 sub_queue_size

Detailed Description

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 69 of file action_server.py.


Constructor & Destructor Documentation

def actionlib.action_server.ActionServer.__init__ (   self,
  ns,
  ActionSpec,
  goal_cb,
  cancel_cb = nop_cb,
  auto_start = True 
)

Constructor for an ActionServer.

Parameters:
ns/nameA namespace for the action server
actionspecAn explicit specification of the action
goal_cbA goal callback to be called when the ActionServer receives a new goal over the wire
cancel_cbA cancel callback to be called when the ActionServer receives a new cancel request over the wire
auto_startA boolean value that tells the ActionServer wheteher 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 76 of file action_server.py.


Member Function Documentation

Initialize all ROS connections and setup timers.

Definition at line 138 of file action_server.py.

The ROS callback for cancel requests coming into the ActionServer.

Definition at line 198 of file action_server.py.

The ROS callback for goals coming into the ActionServer.

Definition at line 252 of file action_server.py.

def actionlib.action_server.ActionServer.publish_feedback (   self,
  status,
  feedback 
)

Publishes feedback for a given goal.

Parameters:
statusThe status of the goal with which the feedback is associated
feedbackThe feedback to publish

Definition at line 188 of file action_server.py.

def actionlib.action_server.ActionServer.publish_result (   self,
  status,
  result 
)

Publishes a result for a given goal.

Parameters:
statusThe status of the goal with which the result is associated
resultThe result to publish

Definition at line 175 of file action_server.py.

Explicitly publish status.

Definition at line 304 of file action_server.py.

Publish status for all goals on a timer event.

Definition at line 296 of file action_server.py.

Register a callback to be invoked when a new cancel is received, this will replace any previously registered callback.

Parameters:
cbThe callback to invoke

Definition at line 127 of file action_server.py.

Register a callback to be invoked when a new goal is received, this will replace any previously registered callback.

Parameters:
cbThe callback to invoke

Definition at line 122 of file action_server.py.

Start the action server.

Definition at line 131 of file action_server.py.


Member Data Documentation

Definition at line 76 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 138 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 138 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 76 of file action_server.py.

Definition at line 138 of file action_server.py.


The documentation for this class was generated from the following file:


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Wed Aug 22 2018 02:38:24