C++ API

rclcpp_action: ROS Action Client Library for C++

rclcpp_action provides the canonical C++ API for interacting with ROS Actions. It consists of these main components:

• Action Client

  • rclcpp_action/client.hpp

  • rclcpp_action/create_client.hpp

  • rclcpp_action/client_goal_handle.hpp

• Action Server

  • rclcpp_action/server.hpp

  • rclcpp_action/create_server.hpp

  • rclcpp_action/server_goal_handle.hpp

Class Hierarchy

• • Namespace rclcpp_action
    • Namespace rclcpp_action::exceptions
      • Class UnawareGoalHandleError
      • Class UnknownGoalHandleError
    • Template Class Client
      • Struct Client::SendGoalOptions
    • Class ClientBase
    • Template Class ClientGoalHandle
      • Struct ClientGoalHandle::WrappedResult
    • Class DefaultActionStatusQoS
    • Template Class Server
    • Class ServerBase
    • Template Class ServerGoalHandle
    • Class ServerGoalHandleBase
    • Enum CancelResponse
    • Enum GoalResponse
    • Enum ResultCode
  • Namespace std
    • Template Struct hash< rclcpp_action::GoalUUID >
    • Template Struct less< rclcpp_action::GoalUUID >

File Hierarchy

• • Directory include
    • Directory rclcpp_action
      • File client.hpp
      • File client_goal_handle.hpp
      • File client_goal_handle_impl.hpp
      • File create_client.hpp
      • File create_server.hpp
      • File exceptions.hpp
      • File qos.hpp
      • File rclcpp_action.hpp
      • File server.hpp
      • File server_goal_handle.hpp
      • File types.hpp
      • File visibility_control.hpp

Full C++ API

Namespaces

• Namespace rclcpp

• Namespace rclcpp_action

• Namespace rclcpp_action::exceptions

• Namespace std

Classes and Structs

• Struct Client::SendGoalOptions

• Struct ClientGoalHandle::WrappedResult

• Template Struct hash< rclcpp_action::GoalUUID >

• Template Struct less< rclcpp_action::GoalUUID >

• Template Class Client

• Class ClientBase

• Template Class ClientGoalHandle

• Class DefaultActionStatusQoS

• Class UnawareGoalHandleError

• Class UnknownGoalHandleError

• Template Class Server

• Class ServerBase

• Template Class ServerGoalHandle

• Class ServerGoalHandleBase

Enums

• Enum CancelResponse

• Enum GoalResponse

• Enum ResultCode

Functions

• Function rclcpp_action::convert(const GoalUUID&, rcl_action_goal_info_t *)

• Function rclcpp_action::convert(const rcl_action_goal_info_t&, GoalUUID *)

• 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&)

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

• Template Function rclcpp_action::create_server(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr, rclcpp::node_interfaces::NodeClockInterface::SharedPtr, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr, rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr, const std::string&, typename Server<ActionT>::GoalCallback, typename Server<ActionT>::CancelCallback, typename Server<ActionT>::AcceptedCallback, const rcl_action_server_options_t&, rclcpp::CallbackGroup::SharedPtr)

• Template Function rclcpp_action::create_server(NodeT, const std::string&, typename Server<ActionT>::GoalCallback, typename Server<ActionT>::CancelCallback, typename Server<ActionT>::AcceptedCallback, const rcl_action_server_options_t&, rclcpp::CallbackGroup::SharedPtr)

• Function rclcpp_action::to_string

Defines

• Define RCLCPP_ACTION_EXPORT

• Define RCLCPP_ACTION_IMPORT

• Define RCLCPP_ACTION_LOCAL

• Define RCLCPP_ACTION_PUBLIC

• Define RCLCPP_ACTION_PUBLIC_TYPE

Typedefs

• Typedef rclcpp_action::GoalInfo

• Typedef rclcpp_action::GoalStatus

• Typedef rclcpp_action::GoalUUID

Directories

• Directory include

• Directory rclcpp_action

Files

• File client.hpp

• File client_goal_handle.hpp

• File client_goal_handle_impl.hpp

• File create_client.hpp

• File create_server.hpp

• File exceptions.hpp

• File qos.hpp

• File rclcpp_action.hpp

• File server.hpp

• File server_goal_handle.hpp

• File types.hpp

• File visibility_control.hpp