README

simple_actions

A simple version of the rclpy/rclcpp action libraries.

Key Design Principles

• For use with simple situations where there will never be two active goals.

• Made for people like me who can’t think about the future for too long without their head hurting.

• Callbacks/methods should deal with the regular Goal/Feedback/Result methods, not wrapped versions.

• If the Action Client does not connect to the server relatively quickly, a warning should be printed while it waits, and another message should report when it finally does connect.

Implementations

• SimpleActionServer (Python)

• SimpleActionServer (C++)

• SimpleActionClient (Python)

• SimpleActionClient (C++)