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. More...
#include <action_server.h>
Public Types | |
| typedef ServerGoalHandle < ActionSpec > | GoalHandle |
Public Member Functions | |
| ACTION_DEFINITION (ActionSpec) | |
| 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. | |
| ActionServer (ros::NodeHandle n, std::string name, boost::function< void(GoalHandle)> goal_cb, bool auto_start) | |
| Constructor for an ActionServer. | |
| ROS_DEPRECATED | ActionServer (ros::NodeHandle n, std::string name, boost::function< void(GoalHandle)> goal_cb, boost::function< void(GoalHandle)> cancel_cb=boost::function< void(GoalHandle)>()) |
| DEPRECATED Constructor for an ActionServer. | |
| ActionServer (ros::NodeHandle n, std::string name, bool auto_start) | |
| Constructor for an ActionServer. | |
| ROS_DEPRECATED | ActionServer (ros::NodeHandle n, std::string name) |
| DEPRECATED Constructor for an ActionServer. | |
| void | registerCancelCallback (boost::function< void(GoalHandle)> cb) |
| Register a callback to be invoked when a new cancel is received, this will replace any previously registered callback. | |
| void | registerGoalCallback (boost::function< void(GoalHandle)> cb) |
| Register a callback to be invoked when a new goal is received, this will replace any previously registered callback. | |
| void | start () |
| Explicitly start the action server, used it auto_start is set to false. | |
| ~ActionServer () | |
| Destructor for the ActionServer. | |
Private Member Functions | |
| void | cancelCallback (const boost::shared_ptr< const actionlib_msgs::GoalID > &goal_id) |
| The ROS callback for cancel requests coming into the ActionServer. | |
| void | goalCallback (const boost::shared_ptr< const ActionGoal > &goal) |
| The ROS callback for goals coming into the ActionServer. | |
| void | initialize () |
| Initialize all ROS connections and setup timers. | |
| void | publishFeedback (const actionlib_msgs::GoalStatus &status, const Feedback &feedback) |
| Publishes feedback for a given goal. | |
| void | publishResult (const actionlib_msgs::GoalStatus &status, const Result &result) |
| Publishes a result for a given goal. | |
| void | publishStatus (const ros::TimerEvent &e) |
| Publish status for all goals on a timer event. | |
| void | publishStatus () |
| Explicitly publish status. | |
Private Attributes | |
| boost::function< void(GoalHandle)> | cancel_callback_ |
| ros::Subscriber | cancel_sub_ |
| ros::Publisher | feedback_pub_ |
| boost::function< void(GoalHandle)> | goal_callback_ |
| ros::Subscriber | goal_sub_ |
| boost::shared_ptr < DestructionGuard > | guard_ |
| GoalIDGenerator | id_generator_ |
| ros::Time | last_cancel_ |
| boost::recursive_mutex | lock_ |
| ros::NodeHandle | node_ |
| ros::Publisher | result_pub_ |
| bool | started_ |
| std::list< StatusTracker < ActionSpec > > | status_list_ |
| ros::Duration | status_list_timeout_ |
| ros::Publisher | status_pub_ |
| ros::Timer | status_timer_ |
Friends | |
| class | HandleTrackerDeleter< ActionSpec > |
| class | ServerGoalHandle< ActionSpec > |
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 68 of file action_server.h.
| typedef ServerGoalHandle<ActionSpec> actionlib::ActionServer< ActionSpec >::GoalHandle |
Reimplemented in actionlib::RefServer.
Definition at line 71 of file action_server.h.
| actionlib::ActionServer< ActionSpec >::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.
| n | A NodeHandle to create a namespace under |
| name | The name 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 66 of file action_server_imp.h.
| actionlib::ActionServer< ActionSpec >::ActionServer | ( | ros::NodeHandle | n, |
| std::string | name, | ||
| boost::function< void(GoalHandle)> | goal_cb, | ||
| bool | auto_start | ||
| ) |
Constructor for an ActionServer.
| n | A NodeHandle to create a namespace under |
| name | The name of the action |
| goal_cb | A goal callback to be called when the ActionServer receives a new goal 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 93 of file action_server_imp.h.
| actionlib::ActionServer< ActionSpec >::ActionServer | ( | ros::NodeHandle | n, |
| std::string | name, | ||
| boost::function< void(GoalHandle)> | goal_cb, | ||
| boost::function< void(GoalHandle)> | cancel_cb = boost::function<void (GoalHandle)>() |
||
| ) |
DEPRECATED Constructor for an ActionServer.
| n | A NodeHandle to create a namespace under |
| name | The name 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 |
Definition at line 80 of file action_server_imp.h.
| actionlib::ActionServer< ActionSpec >::ActionServer | ( | ros::NodeHandle | n, |
| std::string | name, | ||
| bool | auto_start | ||
| ) |
Constructor for an ActionServer.
| n | A NodeHandle to create a namespace under |
| name | The name of the action |
| 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 41 of file action_server_imp.h.
| actionlib::ActionServer< ActionSpec >::ActionServer | ( | ros::NodeHandle | n, |
| std::string | name | ||
| ) |
DEPRECATED Constructor for an ActionServer.
| n | A NodeHandle to create a namespace under |
| name | The name of the action |
Definition at line 54 of file action_server_imp.h.
| actionlib::ActionServer< ActionSpec >::~ActionServer | ( | ) |
Destructor for the ActionServer.
Definition at line 106 of file action_server_imp.h.
| actionlib::ActionServer< ActionSpec >::ACTION_DEFINITION | ( | ActionSpec | ) |
| void actionlib::ActionServer< ActionSpec >::cancelCallback | ( | const boost::shared_ptr< const actionlib_msgs::GoalID > & | goal_id | ) | [private] |
The ROS callback for cancel requests coming into the ActionServer.
Definition at line 184 of file action_server_imp.h.
| void actionlib::ActionServer< ActionSpec >::goalCallback | ( | const boost::shared_ptr< const ActionGoal > & | goal | ) | [private] |
The ROS callback for goals coming into the ActionServer.
Definition at line 249 of file action_server_imp.h.
| void actionlib::ActionServer< ActionSpec >::initialize | ( | ) | [private] |
Initialize all ROS connections and setup timers.
Definition at line 112 of file action_server_imp.h.
| void actionlib::ActionServer< ActionSpec >::publishFeedback | ( | const actionlib_msgs::GoalStatus & | status, |
| const Feedback & | feedback | ||
| ) | [private] |
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 172 of file action_server_imp.h.
| void actionlib::ActionServer< ActionSpec >::publishResult | ( | const actionlib_msgs::GoalStatus & | status, |
| const Result & | result | ||
| ) | [private] |
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 159 of file action_server_imp.h.
| void actionlib::ActionServer< ActionSpec >::publishStatus | ( | const ros::TimerEvent & | e | ) | [private] |
Publish status for all goals on a timer event.
Definition at line 314 of file action_server_imp.h.
| void actionlib::ActionServer< ActionSpec >::publishStatus | ( | ) | [private] |
Explicitly publish status.
Definition at line 324 of file action_server_imp.h.
| void actionlib::ActionServer< ActionSpec >::registerCancelCallback | ( | boost::function< void(GoalHandle)> | 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 154 of file action_server_imp.h.
| void actionlib::ActionServer< ActionSpec >::registerGoalCallback | ( | boost::function< void(GoalHandle)> | 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 149 of file action_server_imp.h.
| void actionlib::ActionServer< ActionSpec >::start | ( | ) |
Explicitly start the action server, used it auto_start is set to false.
Definition at line 307 of file action_server_imp.h.
friend class HandleTrackerDeleter< ActionSpec > [friend] |
Definition at line 208 of file action_server.h.
friend class ServerGoalHandle< ActionSpec > [friend] |
Definition at line 207 of file action_server.h.
boost::function<void (GoalHandle)> actionlib::ActionServer< ActionSpec >::cancel_callback_ [private] |
Definition at line 201 of file action_server.h.
ros::Subscriber actionlib::ActionServer< ActionSpec >::cancel_sub_ [private] |
Definition at line 191 of file action_server.h.
ros::Publisher actionlib::ActionServer< ActionSpec >::feedback_pub_ [private] |
Definition at line 192 of file action_server.h.
boost::function<void (GoalHandle)> actionlib::ActionServer< ActionSpec >::goal_callback_ [private] |
Definition at line 200 of file action_server.h.
ros::Subscriber actionlib::ActionServer< ActionSpec >::goal_sub_ [private] |
Definition at line 191 of file action_server.h.
boost::shared_ptr<DestructionGuard> actionlib::ActionServer< ActionSpec >::guard_ [private] |
Definition at line 212 of file action_server.h.
GoalIDGenerator actionlib::ActionServer< ActionSpec >::id_generator_ [private] |
Definition at line 210 of file action_server.h.
ros::Time actionlib::ActionServer< ActionSpec >::last_cancel_ [private] |
Definition at line 203 of file action_server.h.
boost::recursive_mutex actionlib::ActionServer< ActionSpec >::lock_ [private] |
Definition at line 194 of file action_server.h.
ros::NodeHandle actionlib::ActionServer< ActionSpec >::node_ [private] |
Definition at line 189 of file action_server.h.
ros::Publisher actionlib::ActionServer< ActionSpec >::result_pub_ [private] |
Definition at line 192 of file action_server.h.
bool actionlib::ActionServer< ActionSpec >::started_ [private] |
Definition at line 211 of file action_server.h.
std::list<StatusTracker<ActionSpec> > actionlib::ActionServer< ActionSpec >::status_list_ [private] |
Definition at line 198 of file action_server.h.
ros::Duration actionlib::ActionServer< ActionSpec >::status_list_timeout_ [private] |
Definition at line 204 of file action_server.h.
ros::Publisher actionlib::ActionServer< ActionSpec >::status_pub_ [private] |
Definition at line 192 of file action_server.h.
ros::Timer actionlib::ActionServer< ActionSpec >::status_timer_ [private] |
Definition at line 196 of file action_server.h.