Template Function rclcpp_action::create_client(NodeT, const std::string&, rclcpp::CallbackGroup::SharedPtr, const rcl_action_client_options_t&, bool)

• Defined in File create_client.hpp

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.

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 – [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.