Full interface to an ActionServer. More...
#include <action_client.h>
Public Types | |
| typedef ClientGoalHandle < ActionSpec > | GoalHandle |
Public Member Functions | |
| ActionClient (const ros::NodeHandle &n, const std::string &name, ros::CallbackQueueInterface *queue=NULL) | |
| Constructor with namespacing options. | |
| ActionClient (const std::string &name, ros::CallbackQueueInterface *queue=NULL) | |
| Simple constructor. | |
| void | cancelAllGoals () |
| Cancel all goals currently running on the action server. | |
| void | cancelGoalsAtAndBeforeTime (const ros::Time &time) |
| Cancel all goals that were stamped at and before the specified time. | |
| bool | isServerConnected () |
| Checks if the action client is successfully connected to the action server. | |
| GoalHandle | sendGoal (const Goal &goal, TransitionCallback transition_cb=TransitionCallback(), FeedbackCallback feedback_cb=FeedbackCallback()) |
| Sends a goal to the ActionServer, and also registers callbacks. | |
| bool | waitForActionServerToStart (const ros::Duration &timeout=ros::Duration(0, 0)) |
| 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. | |
| ~ActionClient () | |
Private Types | |
| typedef ActionClient< ActionSpec > | ActionClientT |
| typedef boost::function< void(GoalHandle, const FeedbackConstPtr &) > | FeedbackCallback |
| typedef boost::function< void(const ActionGoalConstPtr)> | SendGoalFunc |
| typedef boost::function< void(GoalHandle) > | TransitionCallback |
Private Member Functions | |
| ACTION_DEFINITION (ActionSpec) | |
| void | feedbackCb (const ActionFeedbackConstPtr &action_feedback) |
| void | initClient (ros::CallbackQueueInterface *queue) |
| template<class M > | |
| ros::Publisher | queue_advertise (const std::string &topic, uint32_t queue_size, const ros::SubscriberStatusCallback &connect_cb, const ros::SubscriberStatusCallback &disconnect_cb, ros::CallbackQueueInterface *queue) |
| template<class M , class T > | |
| ros::Subscriber | queue_subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(const boost::shared_ptr< M const > &), T *obj, ros::CallbackQueueInterface *queue) |
| void | resultCb (const ActionResultConstPtr &action_result) |
| void | sendCancelFunc (const actionlib_msgs::GoalID &cancel_msg) |
| void | sendGoalFunc (const ActionGoalConstPtr &action_goal) |
| void | statusCb (const actionlib_msgs::GoalStatusArrayConstPtr &status_array) |
Private Attributes | |
| ros::Publisher | cancel_pub_ |
| boost::shared_ptr < ConnectionMonitor > | connection_monitor_ |
| ros::Subscriber | feedback_sub_ |
| ros::Publisher | goal_pub_ |
| boost::shared_ptr < DestructionGuard > | guard_ |
| GoalManager< ActionSpec > | manager_ |
| ros::NodeHandle | n_ |
| ros::Subscriber | result_sub_ |
| ros::Subscriber | status_sub_ |
Full interface to an ActionServer.
ActionClient provides a complete client side implementation of the ActionInterface protocol. It provides callbacks for every client side transition, giving the user full observation into the client side state machine.
Definition at line 54 of file action_client.h.
typedef ActionClient<ActionSpec> actionlib::ActionClient< ActionSpec >::ActionClientT [private] |
Definition at line 50 of file action_client.h.
typedef boost::function<void (GoalHandle, const FeedbackConstPtr&) > actionlib::ActionClient< ActionSpec >::FeedbackCallback [private] |
Definition at line 52 of file action_client.h.
| typedef ClientGoalHandle<ActionSpec> actionlib::ActionClient< ActionSpec >::GoalHandle |
Definition at line 46 of file action_client.h.
typedef boost::function<void (const ActionGoalConstPtr)> actionlib::ActionClient< ActionSpec >::SendGoalFunc [private] |
Definition at line 53 of file action_client.h.
typedef boost::function<void (GoalHandle) > actionlib::ActionClient< ActionSpec >::TransitionCallback [private] |
Definition at line 51 of file action_client.h.
| actionlib::ActionClient< ActionSpec >::ActionClient | ( | const std::string & | name, | |
| ros::CallbackQueueInterface * | queue = NULL | |||
| ) | [inline] |
Simple constructor.
Constructs an ActionClient and sets up the necessary ros topics for the ActionInterface
| name | The action name. Defines the namespace in which the action communicates | |
| queue | CallbackQueue from which this action will process messages. The default (NULL) is to use the global queue |
Definition at line 64 of file action_client.h.
| actionlib::ActionClient< ActionSpec >::ActionClient | ( | const ros::NodeHandle & | n, | |
| const std::string & | name, | |||
| ros::CallbackQueueInterface * | queue = NULL | |||
| ) | [inline] |
Constructor with namespacing options.
Constructs an ActionClient and sets up the necessary ros topics for the ActionInterface, and namespaces them according the a specified NodeHandle
| 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 | |
| queue | CallbackQueue from which this action will process messages. The default (NULL) is to use the global queue |
Definition at line 81 of file action_client.h.
| actionlib::ActionClient< ActionSpec >::~ActionClient | ( | ) | [inline] |
Definition at line 88 of file action_client.h.
| actionlib::ActionClient< ActionSpec >::ACTION_DEFINITION | ( | ActionSpec | ) | [private] |
| void actionlib::ActionClient< ActionSpec >::cancelAllGoals | ( | ) | [inline] |
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 118 of file action_client.h.
| void actionlib::ActionClient< ActionSpec >::cancelGoalsAtAndBeforeTime | ( | const ros::Time & | time | ) | [inline] |
Cancel all goals that were stamped at and before the specified time.
| time | All goals stamped at or before `time` will be canceled |
Definition at line 131 of file action_client.h.
| void actionlib::ActionClient< ActionSpec >::feedbackCb | ( | const ActionFeedbackConstPtr & | action_feedback | ) | [inline, private] |
Definition at line 242 of file action_client.h.
| void actionlib::ActionClient< ActionSpec >::initClient | ( | ros::CallbackQueueInterface * | queue | ) | [inline, private] |
Definition at line 187 of file action_client.h.
| bool actionlib::ActionClient< ActionSpec >::isServerConnected | ( | ) | [inline] |
Checks if the action client is successfully connected to the action server.
Definition at line 157 of file action_client.h.
| ros::Publisher actionlib::ActionClient< ActionSpec >::queue_advertise | ( | const std::string & | topic, | |
| uint32_t | queue_size, | |||
| const ros::SubscriberStatusCallback & | connect_cb, | |||
| const ros::SubscriberStatusCallback & | disconnect_cb, | |||
| ros::CallbackQueueInterface * | queue | |||
| ) | [inline, private] |
Definition at line 211 of file action_client.h.
| ros::Subscriber actionlib::ActionClient< ActionSpec >::queue_subscribe | ( | const std::string & | topic, | |
| uint32_t | queue_size, | |||
| void(T::*)(const boost::shared_ptr< M const > &) | fp, | |||
| T * | obj, | |||
| ros::CallbackQueueInterface * | queue | |||
| ) | [inline, private] |
Definition at line 225 of file action_client.h.
| void actionlib::ActionClient< ActionSpec >::resultCb | ( | const ActionResultConstPtr & | action_result | ) | [inline, private] |
Definition at line 247 of file action_client.h.
| void actionlib::ActionClient< ActionSpec >::sendCancelFunc | ( | const actionlib_msgs::GoalID & | cancel_msg | ) | [inline, private] |
Definition at line 182 of file action_client.h.
| GoalHandle actionlib::ActionClient< ActionSpec >::sendGoal | ( | const Goal & | goal, | |
| TransitionCallback | transition_cb = TransitionCallback(), |
|||
| FeedbackCallback | feedback_cb = FeedbackCallback() | |||
| ) | [inline] |
Sends a goal to the ActionServer, and also registers callbacks.
| transition_cb | Callback that gets called on every client state transition | |
| feedback_cb | Callback that gets called whenever feedback for this goal is received |
Definition at line 101 of file action_client.h.
| void actionlib::ActionClient< ActionSpec >::sendGoalFunc | ( | const ActionGoalConstPtr & | action_goal | ) | [inline, private] |
Definition at line 177 of file action_client.h.
| void actionlib::ActionClient< ActionSpec >::statusCb | ( | const actionlib_msgs::GoalStatusArrayConstPtr & | status_array | ) | [inline, private] |
Definition at line 234 of file action_client.h.
| bool actionlib::ActionClient< ActionSpec >::waitForActionServerToStart | ( | 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.
Definition at line 145 of file action_client.h.
ros::Publisher actionlib::ActionClient< ActionSpec >::cancel_pub_ [private] |
Definition at line 174 of file action_client.h.
boost::shared_ptr<ConnectionMonitor> actionlib::ActionClient< ActionSpec >::connection_monitor_ [private] |
Definition at line 171 of file action_client.h.
ros::Subscriber actionlib::ActionClient< ActionSpec >::feedback_sub_ [private] |
Definition at line 169 of file action_client.h.
ros::Publisher actionlib::ActionClient< ActionSpec >::goal_pub_ [private] |
Definition at line 173 of file action_client.h.
boost::shared_ptr<DestructionGuard> actionlib::ActionClient< ActionSpec >::guard_ [private] |
Definition at line 165 of file action_client.h.
GoalManager<ActionSpec> actionlib::ActionClient< ActionSpec >::manager_ [private] |
Definition at line 166 of file action_client.h.
ros::NodeHandle actionlib::ActionClient< ActionSpec >::n_ [private] |
Definition at line 163 of file action_client.h.
ros::Subscriber actionlib::ActionClient< ActionSpec >::result_sub_ [private] |
Definition at line 168 of file action_client.h.
ros::Subscriber actionlib::ActionClient< ActionSpec >::status_sub_ [private] |
Definition at line 175 of file action_client.h.
