actionlib.simple_action_client.SimpleActionClient Class Reference

List of all members.

Public Member Functions
def	__init__
	Constructs a SimpleActionClient and opens connections to an ActionServer.
def	cancel_all_goals
	Cancels all goals currently running on the action server.
def	cancel_goal
	Cancels the goal that we are currently pursuing.
def	cancel_goals_at_and_before_time
	Cancels all goals prior to a given timestamp.
def	get_goal_status_text
	Returns the current status text of the goal.
def	get_result
	Gets the Result of the current goal.
def	get_state
	Get the state information for this goal.
def	send_goal
	Sends a goal to the ActionServer, and also registers callbacks.
def	send_goal_and_wait
	Sends a goal to the ActionServer, waits for the goal to complete, and preempts goal is necessary.
def	stop_tracking_goal
	Stops tracking the state of the current goal.
def	wait_for_result
	Blocks until this goal transitions to done.
def	wait_for_server
	Blocks until the action server connects to this client.
Public Attributes
	action_client
	active_cb
	done_cb
	done_condition
	feedback_cb
	gh
	simple_state
Private Member Functions
def	_handle_feedback
def	_handle_transition
def	_set_simple_state

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Detailed Description

Definition at line 46 of file simple_action_client.py.

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Constructor & Destructor Documentation

def actionlib.simple_action_client.SimpleActionClient.__init__	(		self,
			ns,
			ActionSpec
	)

Constructs a SimpleActionClient and opens connections to an ActionServer.

Parameters:

ns	The namespace in which to access the action. For example, the "goal" topic should occur under ns/goal
ActionSpec	The *Action message type. The SimpleActionClient will grab the other message types from this type.

Definition at line 54 of file simple_action_client.py.

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Member Function Documentation

def actionlib.simple_action_client.SimpleActionClient._handle_feedback	(		self,
			gh,
			feedback
	)		[private]

Definition at line 247 of file simple_action_client.py.

def actionlib.simple_action_client.SimpleActionClient._handle_transition	(		self,
			gh
	)		[private]

Definition at line 214 of file simple_action_client.py.

def actionlib.simple_action_client.SimpleActionClient._set_simple_state	(		self,
			state
	)		[private]

Definition at line 260 of file simple_action_client.py.

def actionlib.simple_action_client.SimpleActionClient.cancel_all_goals

(

self

)

Cancels 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 191 of file simple_action_client.py.

def actionlib.simple_action_client.SimpleActionClient.cancel_goal

(

self

)

Cancels the goal that we are currently pursuing.

Definition at line 203 of file simple_action_client.py.

def actionlib.simple_action_client.SimpleActionClient.cancel_goals_at_and_before_time	(		self,
			time
	)

Cancels all goals prior to a given timestamp.

This preempts all goals running on the action server for which the time stamp is earlier than the specified time stamp this message is serviced by the ActionServer.

Definition at line 199 of file simple_action_client.py.

def actionlib.simple_action_client.SimpleActionClient.get_goal_status_text

(

self

)

Returns the current status text of the goal.

The text is sent by the action server. It is designed to help debugging issues on the server side.

Returns:

The current status text of the goal.

Definition at line 180 of file simple_action_client.py.

def actionlib.simple_action_client.SimpleActionClient.get_result

(

self

)

Gets the Result of the current goal.

Definition at line 148 of file simple_action_client.py.

def actionlib.simple_action_client.SimpleActionClient.get_state

(

self

)

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 162 of file simple_action_client.py.

def actionlib.simple_action_client.SimpleActionClient.send_goal	(		self,
			goal,
			done_cb = None,
			active_cb = None,
			feedback_cb = None
	)

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. The callback should take two parameters: the terminal state (as an integer from actionlib_msgs/GoalStatus) and the result.
active_cb	No-parameter callback that gets called on transitions to Active.
feedback_cb	Callback that gets called whenever feedback for this goal is received. Takes one parameter: the feedback.

Definition at line 83 of file simple_action_client.py.

def actionlib.simple_action_client.SimpleActionClient.send_goal_and_wait	(		self,
			goal,
			execute_timeout = rospy.Duration(),
			preempt_timeout = rospy.Duration()
	)

Sends a goal to the ActionServer, waits for the goal to complete, and preempts goal is necessary.

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.

If the goal does not complete within the execute_timeout, the goal gets preempted

If preemption of the goal does not complete withing the preempt_timeout, this method simply returns

Parameters:

execute_timeout	The time to wait for the goal to complete
preempt_timeout	The time to wait for preemption to complete

Returns:

The goal's state.

Definition at line 109 of file simple_action_client.py.

def actionlib.simple_action_client.SimpleActionClient.stop_tracking_goal

(

self

)

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 211 of file simple_action_client.py.

def actionlib.simple_action_client.SimpleActionClient.wait_for_result	(		self,
			timeout = rospy.Duration()
	)

Blocks until this goal transitions to done.

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 124 of file simple_action_client.py.

def actionlib.simple_action_client.SimpleActionClient.wait_for_server	(		self,
			timeout = rospy.Duration()
	)

Blocks until the action server connects to this client.

Parameters:

timeout

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

Returns:

True if the server connected in the allocated time. False on timeout

Definition at line 66 of file simple_action_client.py.

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Member Data Documentation

actionlib::simple_action_client.SimpleActionClient::action_client

Definition at line 54 of file simple_action_client.py.

actionlib::simple_action_client.SimpleActionClient::active_cb

Definition at line 83 of file simple_action_client.py.

actionlib::simple_action_client.SimpleActionClient::done_cb

Definition at line 83 of file simple_action_client.py.

actionlib::simple_action_client.SimpleActionClient::done_condition

Definition at line 54 of file simple_action_client.py.

actionlib::simple_action_client.SimpleActionClient::feedback_cb

Definition at line 83 of file simple_action_client.py.

actionlib::simple_action_client.SimpleActionClient::gh

Definition at line 54 of file simple_action_client.py.

actionlib::simple_action_client.SimpleActionClient::simple_state

Definition at line 54 of file simple_action_client.py.

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

• simple_action_client.py