Template Function rclcpp_action::create_client(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr, rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr, const std::string&, rclcpp::CallbackGroup::SharedPtr, const rcl_action_client_options_t&, bool)

Function Documentation

template<typename ActionT>
Client<ActionT>::SharedPtr rclcpp_action::create_client(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface, rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_interface, const std::string &name, rclcpp::CallbackGroup::SharedPtr group = nullptr, const rcl_action_client_options_t &options = rcl_action_client_get_default_options(), bool enable_feedback_msg_optimization = false)

Create an action client.

This function is equivalent to

If enable_feedback_msg_optimization is set to true, an action client can handle up to 6 goals simultaneously. If the number of goals exceeds the limit, optimization is automatically disabled.

See also

create_client()` however is using the individual node interfaces to create the client.

Parameters:

  • node_base_interface – [in] The node base interface of the corresponding node.

  • node_graph_interface – [in] The node graph interface of the corresponding node.

  • node_logging_interface – [in] The node logging interface of the corresponding node.

  • node_waitables_interface – [in] The node waitables interface of the corresponding node.

  • name – [in] The action name.

  • group – [in] The action client will be added to this callback group. If nullptr, then the action client is added to the default callback group.

  • options – [in] Options to pass to the underlying rcl_action_client_t.

  • enable_feedback_msg_optimization – [in] Enable feedback subscription content filter to optimize the handling of feedback messages.