Template Class ServerGoalHandle
Defined in File server_goal_handle.hpp
Inheritance Relationships
Base Type
public rclcpp_action::ServerGoalHandleBase
(Class ServerGoalHandleBase)
Class Documentation
-
template<typename ActionT>
class ServerGoalHandle : public rclcpp_action::ServerGoalHandleBase Class to interact with goals on a server.
Use this class to check the status of a goal as well as set the result.
This class is not meant to be created by a user, instead it is created when a goal has been accepted. A
Server
will create an instance and give it to the user in theirhandle_accepted
callback.Internally, this class is responsible for coverting between the C++ action type and generic types for
rclcpp_action::ServerGoalHandleBase
.Public Functions
Send an update about the progress of a goal.
This must only be called when the goal is executing. If execution of a goal is deferred then
ServerGoalHandle::set_executing()
must be called first.- Throws:
std::runtime_error – If the goal is in any state besides executing.
- Parameters:
feedback_msg – [in] the message to publish to clients.
Indicate that a goal could not be reached and has been aborted.
Only call this if the goal was executing but cannot be completed. This is a terminal state, no more methods should be called on a goal handle after this is called.
- Throws:
rclcpp::exceptions::RCLError – If the goal is in any state besides executing.
- Parameters:
result_msg – [in] the final result to send to clients.
Indicate that a goal has succeeded.
Only call this if the goal is executing and has reached the desired final state. This is a terminal state, no more methods should be called on a goal handle after this is called.
- Throws:
rclcpp::exceptions::RCLError – If the goal is in any state besides executing.
- Parameters:
result_msg – [in] the final result to send to clients.
Indicate that a goal has been canceled.
Only call this if the goal is executing or pending, but has been canceled. This is a terminal state, no more methods should be called on a goal handle after this is called.
- Throws:
rclcpp::exceptions::RCLError – If the goal is in any state besides executing.
- Parameters:
result_msg – [in] the final result to send to clients.
-
inline void execute()
Indicate that the server is starting to execute a goal.
Only call this if the goal is pending.
- Throws:
rclcpp::exceptions::RCLError – If the goal is in any state besides executing.
-
inline const std::shared_ptr<const typename ActionT::Goal> get_goal() const
Get the user provided message describing the goal.
-
inline virtual ~ServerGoalHandle()
Protected Functions
Protected Attributes
Friends
- friend class Server< ActionT >