simple_actions.simple_server module

class simple_actions.simple_server.SimpleActionServer(node, action_type, action_namespace, execute_callback)

Bases: object

Simple wrapper around rclpy action server for “easier” usage. Assumes only one action at a time.

The Execute callback should return a Result if successful. Otherwise it will be unsuccessful.

is_active()

is_cancel_requested()

is_executing()

publish_feedback(feedback)

Publish feedback on the active action.