Function rcl_action_server_get_default_options

Function Documentation

rcl_action_server_options_t rcl_action_server_get_default_options(void)

Return the default action server options in a rcl_action_server_options_t.

The defaults are:

  • goal_service_qos = rmw_qos_profile_services_default;

  • cancel_service_qos = rmw_qos_profile_services_default;

  • result_service_qos = rmw_qos_profile_services_default;

  • feedback_topic_qos = rmw_qos_profile_default;

  • status_topic_qos = rcl_action_qos_profile_status_default;

  • allocator = rcl_get_default_allocator();

  • result_timeout = RCUTILS_S_TO_NS(15 * 60); // 15 minutes