Template Class SimpleActionServer

Defined in File simple_server.hpp

Class Documentation

template<typename ACTION_TYPE> class SimpleActionServer

Simple wrapper around rclcpp action server for easier usage. Assumes only one action at a time.

Execute callback should return true if successful and write into the result object

Public Types

using ExecuteCallback = std::function<bool(const typename ACTION_TYPE::Goal&, typename ACTION_TYPE::Result&)>

Public Functions

inline SimpleActionServer(rclcpp::Node::SharedPtr node, const std::string &action_namespace, ExecuteCallback execute_cb)

inline void publishFeedback(typename ACTION_TYPE::Feedback::SharedPtr feedback): Publishes feedback on the active action.

inline bool isActive() const

inline bool isCanceling() const

inline bool isExecuting() const

Protected Types

using GoalHandle = std::shared_ptr<rclcpp_action::ServerGoalHandle<ACTION_TYPE>>

Protected Functions

inline rclcpp_action::GoalResponse handleGoal(const rclcpp_action::GoalUUID&, std::shared_ptr<const typename ACTION_TYPE::Goal>)

inline rclcpp_action::CancelResponse handleCancel(const GoalHandle)

inline void handleAccepted(const GoalHandle goal_handle)

inline void execute(GoalHandle goal_handle)

Protected Attributes

rclcpp_action::Server<ACTION_TYPE>::SharedPtr server_

GoalHandle goal_handle_

ExecuteCallback execute_cb_

rclcpp::Node::SharedPtr node_

rclcpp::Logger LOGGER

std::string info_string_