py_trees_ros_tutorials.mock.actions module
Action servers and clients
- class py_trees_ros_tutorials.mock.actions.DockClient[source]
Bases:
GenericClient
A mock docking controller client.
- class py_trees_ros_tutorials.mock.actions.GenericClient(node_name: str, action_name: str, action_type: Any, generate_feedback_message: Callable[[Any], str] | None = None)[source]
Bases:
object
Generic action client that can be used to test the mock action servers.
- Parameters:
node_name – name to use when creating the node for this process
action_name – the action namespace under which topics and services exist (e.g. move_base)
action_type – the action type (e.g. move_base_msgs.msg.MoveBaseAction)
generate_feedback_message – format the feedback message
- cancel_response_callback(future: rclpy.task.Future)[source]
Cancel response callback
- Parameters:
future – details returning from the server about the cancel request
- feedback_callback(msg: Any)[source]
Prints the feedback on the node’s logger.
- Parameters:
msg – the feedback message, particular to the action type definition
- get_result_callback(future: rclpy.task.Future)[source]
Finally, at the end of the pipeline, what was the result!?
- Parameters:
future – details returning from the server about the goal result
- goal_response_callback(future: rclpy.task.Future)[source]
Handle goal response, proceed to listen for the result if accepted.
- Parameters:
future – details returning from the server about the goal request
- send_cancel_request()[source]
Start the cancel request, chain it to
cancel_response_callback()
.
- send_goal() rclpy.task.Future [source]
Send the goal and get a future back, but don’t do any spinning here to await the future result. Chain it to
goal_response_callback()
.- Returns:
the future awaits…
- Return type:
rclpy.task.Future
- class py_trees_ros_tutorials.mock.actions.MoveBaseClient[source]
Bases:
GenericClient
A mock move base client.
- class py_trees_ros_tutorials.mock.actions.RotateClient[source]
Bases:
GenericClient
A mock rotation controller client.
- py_trees_ros_tutorials.mock.actions.dock_client()[source]
Spin up a docking client and manage it from init to shutdown. Some customisation possible via the command line arguments.