ClientInterfaceBase Class

Provides an interface to an action client that can handle a single goal at a time. More...

Declaration

class moveit_pro::behaviors::ActionClientBehaviorBase::ClientInterfaceBase { ... }

Included Headers

#include <action_client_behavior_base.hpp>

Derived Classes

class	RclcppClientInterface
	Implements ClientInterfaceBase for the rclcpp action client. More...

Public Destructor Index

	~ClientInterfaceBase ()=default

Public Member Functions Index

void	initialize (const std::string &action_name, std::chrono::duration< double > wait_for_server_timeout, std::chrono::duration< double > goal_response_timeout, std::chrono::duration< double > goal_result_timeout, std::chrono::duration< double > cancel_response_timeout)=0
	Initialize the action client. More...
bool	waitForActionServer () const =0
	Block until the action server is ready or a timeout is exceeded. More...
tl::expected< void, std::string >	syncSendGoal (const typename ActionT::Goal &goal, typename ClientGoalHandle::FeedbackCallback feedback_fn)=0
	Send an action goal and block until the goal is accepted or a timeout is exceeded. More...
tl::expected< typename ActionClientBehaviorBase::ClientGoalHandle::WrappedResult, std::string >	syncGetResult (const std::string &timeout_message) const =0
	Block until the in-progress action result is received or a timeout is exceeded. More...
tl::expected< std::shared_ptr< typename ActionT::Impl::CancelGoalService::Response >, std::string >	syncCancelGoal () const =0
	Send a request to cancel an in-progress action goal and block until the cancellation request is accepted or a timeout is exceeded. More...

Description

Provides an interface to an action client that can handle a single goal at a time.

Definition at line 35 of file action_client_behavior_base.hpp.

Public Destructor

~ClientInterfaceBase()

virtual moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase::~ClientInterfaceBase ()

virtual default

Definition at line 38 of file action_client_behavior_base.hpp.

Public Member Functions

initialize()

virtual void moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase::initialize (const std::string & action_name, std::chrono::duration< double > wait_for_server_timeout, std::chrono::duration< double > goal_response_timeout, std::chrono::duration< double > goal_result_timeout, std::chrono::duration< double > cancel_response_timeout)

Initialize the action client.

Parameters

action_name	Action name to use when initializing the client.
wait_for_server_timeout	Duration to wait for the action server to be available before failing.
goal_response_timeout	Duration to wait for a goal response before failing.
goal_result_timeout	Duration to wait for a result before failing. If the duration is negative, wait forever.
cancel_response_timeout	Duration to wait for a cancel response before failing.

Definition at line 48 of file action_client_behavior_base.hpp.

syncCancelGoal()

virtual tl::expected< std::shared_ptr< typename ActionT::Impl::CancelGoalService::Response >, std::string > moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase::syncCancelGoal ()

Send a request to cancel an in-progress action goal and block until the cancellation request is accepted or a timeout is exceeded.

Returns

If a cancel response was received, return the cancel response message. If the timeout limit was reached or if the action goal could not be canceled, return an error result describing the failure.

Definition at line 85 of file action_client_behavior_base.hpp.

syncGetResult()

virtual tl::expected< typename ActionClientBehaviorBase::ClientGoalHandle::WrappedResult, std::string > moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase::syncGetResult (const std::string & timeout_message)

Block until the in-progress action result is received or a timeout is exceeded.

Parameters

timeout_message

The error message to surface if a timeout is reached before a goal result is returned.

Returns

If an action result was received, return the WrappedResult received from the action server. If the timeout limits was reached before the WrappedResult was received, return an error result.

Definition at line 76 of file action_client_behavior_base.hpp.

syncSendGoal()

virtual tl::expected< void, std::string > moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase::syncSendGoal (const typename ActionT::Goal & goal, typename ClientGoalHandle::FeedbackCallback feedback_fn)

Send an action goal and block until the goal is accepted or a timeout is exceeded.

Parameters

goal	Action goal message to send to the action server.
feedback_fn	Function to execute when the action goal handle received feedback from the server during execution.

Returns

If successful, return void. If the goal request failed to send or timed out before the goal response was received, return an error result describing the failure.

Definition at line 66 of file action_client_behavior_base.hpp.

waitForActionServer()

virtual bool moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase::waitForActionServer ()

Block until the action server is ready or a timeout is exceeded.

Returns

True if the action server was found to be available before the timeout. False if it was not.

Definition at line 57 of file action_client_behavior_base.hpp.

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

• action_client_behavior_base.hpp

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