Generic base class for implementing robot skills using the ROS 2 action concept. More...

#include <auto_apms_util/action_wrapper.hpp>

Inheritance diagram for ActionWrapper< ActionT >:

Public Member Functions
	ActionWrapper (const std::string &action_name, rclcpp::Node::SharedPtr node_ptr, std::shared_ptr< ActionContextType > action_context_ptr)
	Constructor.

	ActionWrapper (const std::string &action_name, rclcpp::Node::SharedPtr node_ptr)
	Constructor.

	ActionWrapper (const std::string &action_name, const rclcpp::NodeOptions &options)
	Constructor.

Private Member Functions
virtual bool	onGoalRequest (std::shared_ptr< const Goal > goal_ptr)
	Callback for handling an incoming action goal request.

virtual void	setInitialResult (std::shared_ptr< const Goal > goal_ptr, std::shared_ptr< Result > result_ptr)
	Configure the initial action result that is set once a goal is accepted.

virtual bool	onCancelRequest (std::shared_ptr< const Goal > goal_ptr, std::shared_ptr< Result > result_ptr)
	Callback for handling an incoming cancel request.

virtual Status	cancelGoal (std::shared_ptr< const Goal > goal_ptr, std::shared_ptr< Result > result_ptr)
	Callback that executes work asynchronously when the goal is cancelling.

virtual Status	executeGoal (std::shared_ptr< const Goal > goal_ptr, std::shared_ptr< Feedback > feedback_ptr, std::shared_ptr< Result > result_ptr)=0
	Callback that executes work asynchronously when the goal is executing.

Detailed Description

template<typename ActionT>
class auto_apms_util::ActionWrapper< ActionT >

Generic base class for implementing robot skills using the ROS 2 action concept.

This wraps a rclcpp_action::Server and provides convenient extension points for the user. You must implement the pure virtual method ActionWrapper::executeGoal when inheriting from this class.

Note: ActionWrapper::executeGoal and ActionWrapper::cancelGoal are intended to work asynchronously. This means that a timer repeatedly invokes these callbacks until the returned status is either ActionStatus::SUCCESS or ActionStatus::FAILURE.

Definition at line 57 of file action_wrapper.hpp.

Constructor & Destructor Documentation

◆ ActionWrapper() [1/3]

template<class ActionT>

ActionWrapper	(	const std::string &	action_name,
		rclcpp::Node::SharedPtr	node_ptr,
		std::shared_ptr< ActionContextType >	action_context_ptr )

explicit

Constructor.

Parameters

action_name	Name of the action.
node_ptr	ROS 2 node pointer.
action_context_ptr	Pointer to a shared instance of the associated action context.

Definition at line 178 of file action_wrapper.hpp.

◆ ActionWrapper() [2/3]

template<class ActionT>

ActionWrapper	(	const std::string &	action_name,
		rclcpp::Node::SharedPtr	node_ptr )

explicit

Constructor.

Parameters

action_name	Name of the action.
node_ptr	ROS 2 node pointer.

Definition at line 193 of file action_wrapper.hpp.

◆ ActionWrapper() [3/3]

template<class ActionT>

ActionWrapper	(	const std::string &	action_name,
		const rclcpp::NodeOptions &	options )

explicit

Constructor.

Parameters

action_name	Name of the action.
options	ROS 2 node options used for initialization.

Definition at line 199 of file action_wrapper.hpp.

Member Function Documentation

◆ onGoalRequest()

template<class ActionT>

bool onGoalRequest ( std::shared_ptr< const Goal > goal_ptr )

privatevirtual

Callback for handling an incoming action goal request.

Implementation specific callbacks

By default, all goals are accepted.

Parameters

goal_ptr Goal request.

Returns: true for accepting the request and false for rejecting it.

Reimplemented in ModeExecutor< ActionT >, ModeExecutor< auto_apms_interfaces::action::EnableHold >, ModeExecutor< auto_apms_interfaces::action::Land >, ModeExecutor< auto_apms_interfaces::action::Mission >, ModeExecutor< auto_apms_interfaces::action::RTL >, and ModeExecutor< auto_apms_interfaces::action::Takeoff >.

Definition at line 211 of file action_wrapper.hpp.

◆ setInitialResult()

template<class ActionT>

void setInitialResult	(	std::shared_ptr< const Goal >	goal_ptr,
		std::shared_ptr< Result >	result_ptr )

privatevirtual

Configure the initial action result that is set once a goal is accepted.

By default, the respective type defaults are used.

Parameters

goal_ptr	Accepted action goal.
result_ptr	Shared action result to be modified.

Definition at line 218 of file action_wrapper.hpp.

◆ onCancelRequest()

template<class ActionT>

bool onCancelRequest	(	std::shared_ptr< const Goal >	goal_ptr,
		std::shared_ptr< Result >	result_ptr )

privatevirtual

Callback for handling an incoming cancel request.

By default, cancelling a goal is always accepted.

Parameters

goal_ptr	Original goal of the action to be canceled.
result_ptr	Shared action result to be modified.

Returns: true for accepting the request and false for rejecting it.

Reimplemented in ModeExecutor< ActionT >, ModeExecutor< auto_apms_interfaces::action::EnableHold >, ModeExecutor< auto_apms_interfaces::action::Land >, ModeExecutor< auto_apms_interfaces::action::Mission >, ModeExecutor< auto_apms_interfaces::action::RTL >, and ModeExecutor< auto_apms_interfaces::action::Takeoff >.

Definition at line 225 of file action_wrapper.hpp.

◆ cancelGoal()

template<class ActionT>

ActionStatus cancelGoal	(	std::shared_ptr< const Goal >	goal_ptr,
		std::shared_ptr< Result >	result_ptr )

privatevirtual

Callback that executes work asynchronously when the goal is cancelling.

By default, this callback does nothing.

You must return ActionStatus::RUNNING, if this callback's work is not done yet and it should be invoked again. Otherwise, return ActionStatus::SUCCESS or ActionStatus::FAILURE to cancel respectively abort the goal.

Parameters

goal_ptr	Original goal of the action that is being canceled.
result_ptr	Shared action result to be modified.

Returns: Status of the cancellation routine.

Reimplemented in ModeExecutor< ActionT >, ModeExecutor< auto_apms_interfaces::action::EnableHold >, ModeExecutor< auto_apms_interfaces::action::Land >, ModeExecutor< auto_apms_interfaces::action::Mission >, ModeExecutor< auto_apms_interfaces::action::RTL >, and ModeExecutor< auto_apms_interfaces::action::Takeoff >.

Definition at line 233 of file action_wrapper.hpp.

◆ executeGoal()

template<typename ActionT>

virtual Status executeGoal	(	std::shared_ptr< const Goal >	goal_ptr,
		std::shared_ptr< Feedback >	feedback_ptr,
		std::shared_ptr< Result >	result_ptr )

privatepure virtual

Callback that executes work asynchronously when the goal is executing.

You must return ActionStatus::RUNNING, if this callback's work is not done yet and it should be invoked again. Otherwise, return ActionStatus::SUCCESS or ActionStatus::FAILURE to succeed respectively abort the goal.

Parameters

goal_ptr	Original goal of the action that is being executed.
feedback_ptr	Shared action feedback that is published according to the configured feedback rate.
result_ptr	Shared action result to be modified.

Returns: Status of the execution routine.

Implemented in ModeExecutor< ActionT >, ModeExecutor< auto_apms_interfaces::action::EnableHold >, ModeExecutor< auto_apms_interfaces::action::Land >, ModeExecutor< auto_apms_interfaces::action::Mission >, ModeExecutor< auto_apms_interfaces::action::RTL >, and ModeExecutor< auto_apms_interfaces::action::Takeoff >.

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

auto_apms_util/include/auto_apms_util/action_wrapper.hpp

Public Member Functions

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ActionWrapper() [1/3]

◆ ActionWrapper() [2/3]

◆ ActionWrapper() [3/3]

Member Function Documentation

◆ onGoalRequest()

◆ setInitialResult()

◆ onCancelRequest()

◆ cancelGoal()

◆ executeGoal()