smach_ros.simple_action_state module

class smach_ros.simple_action_state.SimpleActionState(*args: Any, **kwargs: Any)

Bases: RosState

Simple action client state.

Use this class to represent an actionlib as a state in a state machine.

ACTIVE = 2

COMPLETED = 4

INACTIVE = 1

PREEMPTING = 3

WAITING_FOR_SERVER = 0

execute(ud): Called when executing a state. This calls the goal_cb if it is defined, and then dispatches the goal with a non-blocking call to the action client.

request_preempt()