simple_actions.simple_client module

class simple_actions.simple_client.ResultCode(value)

Bases: Enum

Similar to action_msgs/msg/GoalStatus but also contains REJECTED.

ABORTED = 3
CANCELED = 2
REJECTED = 4
SUCCEEDED = 1
UNKNOWN = 0
class simple_actions.simple_client.SimpleActionClient(node, action_type, action_namespace, wait_for_server=True)

Bases: object

Simple wrapper around rclpy action client for easier usage. Assumes only one action at a time.

The ResultCallback should take two parameters, a ResultCode and the Action result

The FeedbackCallback should take a single parameter for the Action feedback

send_goal(goal_msg, result_callback=None, feedback_callback=None)

Send a goal, and return immediately.

wait_for_server()

Wait indefinitely for the server to come up. Will print a message after 10 seconds.