action_server.h
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35 * Author: Eitan Marder-Eppstein
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37 #ifndef ACTIONLIB__SERVER__ACTION_SERVER_H_
38 #define ACTIONLIB__SERVER__ACTION_SERVER_H_
39 
40 #include <ros/ros.h>
41 #include <boost/thread.hpp>
42 #include <boost/thread/reverse_lock.hpp>
43 #include <boost/shared_ptr.hpp>
44 #include <actionlib_msgs/GoalID.h>
45 #include <actionlib_msgs/GoalStatusArray.h>
46 #include <actionlib_msgs/GoalStatus.h>
55 
56 #include <list>
57 #include <string>
58 
59 namespace actionlib
60 {
71 template<class ActionSpec>
72 class ActionServer : public ActionServerBase<ActionSpec>
73 {
74 public:
75  // for convenience when referring to ServerGoalHandles
77 
78  // generates typedefs that we'll use to make our lives easier
79  ACTION_DEFINITION(ActionSpec);
80 
89  ActionServer(ros::NodeHandle n, std::string name,
90  boost::function<void(GoalHandle)> goal_cb,
91  boost::function<void(GoalHandle)> cancel_cb,
92  bool auto_start);
93 
101  ActionServer(ros::NodeHandle n, std::string name,
102  boost::function<void(GoalHandle)> goal_cb,
103  bool auto_start);
104 
112  ROS_DEPRECATED ActionServer(ros::NodeHandle n, std::string name,
113  boost::function<void(GoalHandle)> goal_cb,
114  boost::function<void(GoalHandle)> cancel_cb = boost::function<void(GoalHandle)>());
115 
122  ActionServer(ros::NodeHandle n, std::string name,
123  bool auto_start);
124 
130  ROS_DEPRECATED ActionServer(ros::NodeHandle n, std::string name);
131 
135  virtual ~ActionServer();
136 
137 private:
141  virtual void initialize();
142 
148  virtual void publishResult(const actionlib_msgs::GoalStatus & status, const Result & result);
149 
155  virtual void publishFeedback(const actionlib_msgs::GoalStatus & status,
156  const Feedback & feedback);
157 
161  virtual void publishStatus();
162 
166  void publishStatus(const ros::TimerEvent & e);
167 
169 
172 
174 };
175 } // namespace actionlib
176 
177 // include the implementation
179 #endif // ACTIONLIB__SERVER__ACTION_SERVER_H_
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.
virtual ~ActionServer()
Destructor for the ActionServer.
ros::Subscriber goal_sub_
ServerGoalHandle< ActionSpec > GoalHandle
Definition: action_server.h:76
ros::Publisher status_pub_
virtual void initialize()
Initialize all ROS connections and setup timers.
ros::Publisher feedback_pub_
The ActionServerBase implements the logic for an ActionServer.
virtual void publishResult(const actionlib_msgs::GoalStatus &status, const Result &result)
Publishes a result for a given goal.
Encapsulates a state machine for a given goal that the user can trigger transitions on...
#define ROS_DEPRECATED
virtual void publishStatus()
Explicitly publish status.
The ActionServer is a helpful tool for managing goal requests to a node. It allows the user to specif...
Definition: action_server.h:72
ros::Subscriber cancel_sub_
ros::Publisher result_pub_
ros::NodeHandle node_
virtual void publishFeedback(const actionlib_msgs::GoalStatus &status, const Feedback &feedback)
Publishes feedback for a given goal.
ACTION_DEFINITION(ActionSpec)


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Sat Aug 18 2018 02:45:48