Class ActionServer

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class ActionServer : public rclcpp::Node

Node implementing the action server for franka hardware related capabilities.

Public Functions

ActionServer(const rclcpp::NodeOptions &options, std::shared_ptr<Robot> robot)

Construct the franka ActionServer.

Parameters:
  • options – rclcpp::NodeOptions Options for the ROS 2 node

  • robot – std::shared_ptr<Robot> The robot backend