synchros2.single_goal_multiple_action_servers module

class synchros2.single_goal_multiple_action_servers.SingleGoalMultipleActionServers

Bases: object

Wrapper around multiple action servers that only allows a single Action to be executing at one time.

If a new Action.Goal is received by any of the action servers, the existing Action (if there is one) is preemptively canceled.

__init__(node: rclpy.node.Node, action_server_parameters: List[Tuple[ActionType, str, Callable, rclpy.callback_groups.CallbackGroup | None]], nosync: bool = False) → None

Constructor.

Parameters:

• node – ROS 2 node to use for action servers.

• action_server_parameters – tuples per action server, listing action type, action name,

• callback (action execution)

• group (and action callback)

• nosync – whether to synchronize action execution callbacks using locks or not.

• exclusion. (Set to True when action execution callback already enforce mutual)

cancel_callback(cancel_request: Any) → rclpy.action.CancelResponse

Accept or reject a client’s request to cancel an action.

destroy() → None

Destroy all of the internal action servers

get_logger() → rclpy.impl.rcutils_logger.RcutilsLogger

Returns the ros logger

goal_callback(goal: Any) → rclpy.action.GoalResponse

Accept or reject a client request to begin an action.

handle_accepted_callback(goal_handle: rclpy.action.server.ServerGoalHandle) → None

Callback triggered when an action is accepted.