flexbe_input.complex_action_server module

class flexbe_input.complex_action_server.ComplexActionServer(node, name, ActionSpec, execute_cb=None, auto_start=False)

Bases: object

Constructor for a ComplexActionServer.

@param name A name for the action server @param execute_cb Optional callback that gets called in a separate thread whenever

a new goal is received, allowing users to have blocking callbacks. Adding an execute callback also deactivates the goalCallback.

@param auto_start A boolean value that tells the ActionServer wheteher or not

to start publishing as soon as it comes up. THIS SHOULD ALWAYS BE SET TO FALSE TO AVOID RACE CONDITIONS and start() should be called after construction of the server.

accept_new_goal()

Accept a new goal.

executeLoop()

Excute the server loop.

get_default_result()

Get result.

internal_goal_callback(goal)

Call when the ActionServer receives a new goal and passes it on.

internal_preempt_callback(preempt)

Call when the ActionServer receives a new preempt and passes it on.

is_active()

Check if current goal is active.

is_new_goal_available()

Check if new goal is available.

publish_feedback(feedback)

Publish feedback.

register_goal_callback(cb)

Register callback.

run_goal(goal, goal_handle)

Run goal callback.

set_aborted(result=None, text='', goal_handle=None)

Set goal aborted.

set_succeeded(result=None, text='', goal_handle=None)

Set status to success.

flexbe_input.complex_action_server.nop_cb(goal_handle)

Execute no operation (pass through) callback.