C++ API
rcl: Common functionality ROS actions
rcl_action
provides a pure C implementation of the ROS concept of an action. It builds on top of the implementation of topics and services in rcl
.
rcl_action
consists of functions and structs for the following ROS action entities:
Action client
rcl_action/action_client.h
Action server
rcl_action/action_server.h
Goal handle
rcl_action/goal_handle.h
Goal state machine
rcl_action/goal_state_machine.h
It also has some machinery that is necessary to wait on and act on these entities:
Wait sets for waiting on actions clients and action servers to be ready
rcl_action/wait.h
Some useful abstractions and utilities:
Return codes and other types
rcl_action/types.h
Class Hierarchy
-
- Struct rcl_action_cancel_response_s
- Struct rcl_action_client_options_s
- Struct rcl_action_client_s
- Struct rcl_action_goal_handle_s
- Struct rcl_action_goal_status_array_s
- Struct rcl_action_server_options_s
- Struct rcl_action_server_s
- Enum rcl_action_goal_event_e
File Hierarchy
-
- Directory include