Template Class TestActionServer

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

template<class ActionT>
class TestActionServer : public rclcpp::Node

Public Functions

inline explicit TestActionServer(std::string action_name, const rclcpp::NodeOptions &options = rclcpp::NodeOptions())
inline std::shared_ptr<const typename ActionT::Goal> getCurrentGoal() const
inline void setReturnSuccess(bool return_success)
inline bool getReturnSuccess(void)
inline bool isGoalCancelled()

Protected Functions

inline virtual rclcpp_action::GoalResponse handle_goal(const rclcpp_action::GoalUUID&, std::shared_ptr<const typename ActionT::Goal> goal)
inline virtual rclcpp_action::CancelResponse handle_cancel(const typename std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>>)
virtual void execute(const typename std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>> goal_handle) = 0
inline void handle_accepted(const std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>> goal_handle)