ActionClientWrapper< ActionT > Class Template Reference

#include <auto_apms_core/action_client.hpp>

Public Types
using	Goal = typename ActionT::Goal
using	SendGoalOptions = typename rclcpp_action::Client<ActionT>::SendGoalOptions
using	Feedback = typename ActionT::Feedback
using	Result = typename ActionT::Result
using	ClientGoalHandle = rclcpp_action::ClientGoalHandle<ActionT>
using	WrappedResultSharedPtr = std::shared_ptr<typename ClientGoalHandle::WrappedResult>
using	ResultFuture = std::shared_future<WrappedResultSharedPtr>

Public Member Functions
	ActionClientWrapper (rclcpp::Node &node, const std::string &action_name)
ResultFuture	syncSendGoal (const Goal &goal=Goal{}, const SendGoalOptions &options=SendGoalOptions{}, const std::chrono::seconds server_timeout=std::chrono::seconds{ 3 }, const std::chrono::seconds response_timeout=std::chrono::seconds{ 3 })
bool	syncCancelLastGoal (const std::chrono::seconds response_timeout=std::chrono::seconds{ 3 })
ClientGoalHandle::SharedPtr	getActiveGoalHandle ()
std::shared_ptr< const Feedback >	getFeedback ()

Static Public Member Functions
static ActionGoalStatus	getGoalStatus (const ResultFuture &future)

Detailed Description

template<typename ActionT>
class auto_apms_core::ActionClientWrapper< ActionT >

Convenience wrapper for a rclcpp_action::Client that introduces synchronous goal handling functions.

Definition at line 45 of file action_client.hpp.

Member Typedef Documentation

Goal

template<typename ActionT >

using Goal = typename ActionT::Goal

Definition at line 48 of file action_client.hpp.

SendGoalOptions

template<typename ActionT >

using SendGoalOptions = typename rclcpp_action::Client<ActionT>::SendGoalOptions

Definition at line 49 of file action_client.hpp.

Feedback

template<typename ActionT >

using Feedback = typename ActionT::Feedback

Definition at line 50 of file action_client.hpp.

Result

template<typename ActionT >

using Result = typename ActionT::Result

Definition at line 51 of file action_client.hpp.

ClientGoalHandle

template<typename ActionT >

using ClientGoalHandle = rclcpp_action::ClientGoalHandle<ActionT>

Definition at line 52 of file action_client.hpp.

WrappedResultSharedPtr

template<typename ActionT >

using WrappedResultSharedPtr = std::shared_ptr<typename ClientGoalHandle::WrappedResult>

Definition at line 53 of file action_client.hpp.

ResultFuture

template<typename ActionT >

using ResultFuture = std::shared_future<WrappedResultSharedPtr>

Definition at line 54 of file action_client.hpp.

Constructor & Destructor Documentation

ActionClientWrapper()

template<typename ActionT >

ActionClientWrapper	(	rclcpp::Node &	node,
		const std::string &	action_name )

Constructor.

Parameters

node	Node reference. This instance doesn't own the node
action_name	Name of the corresponding action

Definition at line 121 of file action_client.hpp.

Member Function Documentation

syncSendGoal()

template<typename ActionT >

ActionClientWrapper< ActionT >::ResultFuture syncSendGoal	(	const Goal &	goal = Goal{},
		const SendGoalOptions &	options = SendGoalOptions{},
		const std::chrono::seconds	server_timeout = std::chrono::seconds{ 3 },
		const std::chrono::seconds	response_timeout = std::chrono::seconds{ 3 } )

Send a goal to the action and synchronously wait for the response.

Parameters

goal	Goal of the action that will be sent to the server
options	Goal options to be forwarded
server_timeout	Timeout for waiting for the action server to be discovered
response_timeout	Timeout for waiting for a goal response from the server

Returns

Shared future that completes when the action finishes, holding the result. The result is nullptr if the goal was rejected.

Exceptions

std::runtime_error

if sending the goal fails.

Definition at line 131 of file action_client.hpp.

syncCancelLastGoal()

template<typename ActionT >

bool syncCancelLastGoal

(

const std::chrono::seconds

response_timeout = std::chrono::seconds{ 3 }

)

Request to cancel the most recent goal.

This method is synchronous, meaning that it blocks until the cancelation result is received.

Parameters

response_timeout

Timeout for waiting for a cancel response from the server

Returns

true if the last goal was cancelled successfully, false if request was denied.

Exceptions

std::runtime_error

if cancelation failed.

Definition at line 186 of file action_client.hpp.

getGoalStatus()

template<typename ActionT >

ActionGoalStatus getGoalStatus ( const ResultFuture & future )

static

Determine the status of a specific goal by evaluating the corresponding ActionClientWrapper::ResultFuture.

Parameters

future

ActionClientWrapper::ResultFuture corresponding to the goal whose status is to be retrieved

Returns

auto_apms::ActionGoalStatus value that indicates whether the goal was rejected, is currently being processed or has completed.

Exceptions

std::runtime_error

if future is invalid.

Definition at line 223 of file action_client.hpp.

getActiveGoalHandle()

template<typename ActionT >

ActionClientWrapper< ActionT >::ClientGoalHandle::SharedPtr getActiveGoalHandle

(

)

Get the goal handle of the currently active goal.

Returns

Shared pointer of the active goal handle or nullptr, if there is no active goal.

Definition at line 241 of file action_client.hpp.

getFeedback()

template<typename ActionT >

std::shared_ptr< const typename ActionClientWrapper< ActionT >::Feedback > getFeedback

(

)

Get the most recent feedback.

Returns

Shared pointer of the feeback.

Definition at line 247 of file action_client.hpp.

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The documentation for this class was generated from the following file:

• auto_apms_core/include/auto_apms_core/action_client.hpp