Template Function rclcpp_action::create_client

Function Documentation

template<typename ActionT, typename NodeT>
Client<ActionT>::SharedPtr rclcpp_action::create_client(NodeT node, 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.

auto deleter = [weak_node, weak_group, group_is_null](Client<ActionT> * ptr) { if (nullptr == ptr) { return; } auto shared_node = weak_node.lock(); if (shared_node) { API expects a shared pointer, give it one with a deleter that does nothing. std::shared_ptr<Client<ActionT>> fake_shared_ptr(ptr, [](Client<ActionT> *) {});

if (group_is_null) { Was added to default group shared_node->remove_waitable(fake_shared_ptr, nullptr); } else { Was added to a specific group auto shared_group = weak_group.lock(); if (shared_group) { shared_node->remove_waitable(fake_shared_ptr, shared_group); } } } delete ptr; };

std::shared_ptr<Client<ActionT>> action_client(

new Client<ActionT>(

node_base_interface,

node_graph_interface,

node_logging_interface,

name,

options,

enable_feedback_msg_optimization),

deleter);

node_waitables_interface->add_waitable(action_client, group); return action_client; }

Create an action client. /**

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.

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. */ template<typename ActionT> typename Client<ActionT>::SharedPtr 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) { std::weak_ptr<rclcpp::node_interfaces::NodeWaitablesInterface> weak_node = node_waitables_interface; std::weak_ptr<rclcpp::CallbackGroup> weak_group = group; bool group_is_null = (nullptr == group.get());

  • node – [in] The action client will be added to this 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.