The ActionServer is a helpful tool for managing goal requests to a node. More...
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 | |
| result_pub | |
| started | |
| status_frequency | |
| status_list | |
| status_list_timeout | |
| status_pub | |
| status_timer | |
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 71 of file action_server.py.
| def actionlib::action_server::ActionServer::__init__ | ( | self, | ||
| ns, | ||||
| ActionSpec, | ||||
| goal_cb, | ||||
cancel_cb = nop_cb, |
||||
auto_start = True | ||||
| ) |
Constructor for an ActionServer.
| ns/name | A namespace for the action server | |
| actionspec | An explicit specification 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 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 78 of file action_server.py.
| def actionlib::action_server::ActionServer::initialize | ( | self | ) |
Initialize all ROS connections and setup timers.
Definition at line 141 of file action_server.py.
| def actionlib::action_server::ActionServer::internal_cancel_callback | ( | self, | ||
| goal_id | ||||
| ) |
The ROS callback for cancel requests coming into the ActionServer.
Definition at line 186 of file action_server.py.
| def actionlib::action_server::ActionServer::internal_goal_callback | ( | self, | ||
| goal | ||||
| ) |
The ROS callback for goals coming into the ActionServer.
Definition at line 246 of file action_server.py.
| def actionlib::action_server::ActionServer::publish_feedback | ( | self, | ||
| status, | ||||
| feedback | ||||
| ) |
Publishes feedback for a given goal.
| status | The status of the goal with which the feedback is associated | |
| feedback | The feedback to publish |
Definition at line 175 of file action_server.py.
| def actionlib::action_server::ActionServer::publish_result | ( | self, | ||
| status, | ||||
| result | ||||
| ) |
Publishes a result for a given goal.
| status | The status of the goal with which the result is associated | |
| result | The result to publish |
Definition at line 163 of file action_server.py.
| def actionlib::action_server::ActionServer::publish_status | ( | self | ) |
Explicitly publish status.
Definition at line 305 of file action_server.py.
| def actionlib::action_server::ActionServer::publish_status_async | ( | self | ) |
Publish status for all goals on a timer event.
Definition at line 294 of file action_server.py.
| def actionlib::action_server::ActionServer::register_cancel_callback | ( | self, | ||
| cancel_cb | ||||
| ) |
Register a callback to be invoked when a new cancel is received, this will replace any previously registered callback.
| cb | The callback to invoke |
Definition at line 130 of file action_server.py.
| def actionlib::action_server::ActionServer::register_goal_callback | ( | self, | ||
| cb | ||||
| ) |
Register a callback to be invoked when a new goal is received, this will replace any previously registered callback.
| cb | The callback to invoke |
Definition at line 125 of file action_server.py.
| def actionlib::action_server::ActionServer::start | ( | self | ) |
Start the action server.
Definition at line 134 of file action_server.py.
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