ActionClientWrapper< ActionT > Class Template Reference

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

#include <auto_apms_util/action_client_wrapper.hpp>

Public Member Functions
	ActionClientWrapper (rclcpp::Node::SharedPtr node_ptr, const std::string &action_name)
	ActionClientWrapper constructor.
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.
bool	syncCancelLastGoal (const std::chrono::seconds response_timeout=std::chrono::seconds{3})
	Request to cancel the most recent goal.
ClientGoalHandle::SharedPtr	getActiveGoalHandle ()
	Get the goal handle of the currently active goal.
std::shared_ptr< const Feedback >	getFeedback ()
	Get the most recent feedback.

Static Public Member Functions
static ActionGoalStatus	getGoalStatus (const ResultFuture &future)
	Determine the status of a specific goal by evaluating the corresponding ActionClientWrapper::ResultFuture.

Detailed Description

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

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

Definition at line 54 of file action_client_wrapper.hpp.

Constructor & Destructor Documentation

ActionClientWrapper()

template<typename ActionT>

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

ActionClientWrapper constructor.

Parameters

node_ptr	Shared pointer to the node.
action_name	Name of the corresponding action.

Definition at line 131 of file action_client_wrapper.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 140 of file action_client_wrapper.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 190 of file action_client_wrapper.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 224 of file action_client_wrapper.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 239 of file action_client_wrapper.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 245 of file action_client_wrapper.hpp.

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

• auto_apms_util/include/auto_apms_util/action_client_wrapper.hpp