RclcppClientInterface Class

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

Declaration

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

Included Headers

#include <action_client_behavior_base.hpp>

Base class

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

Public Constructors Index

	RclcppClientInterface (const std::shared_ptr< BehaviorContext > &behavior_context)
	Constructor for this implementation. More...

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) override
	Implementation of ClientInterfaceBase::initialize for an rclcpp action client. More...
bool	waitForActionServer () const override
	Implementation of ClientInterfaceBase::waitForActionServer for an rclcpp action client. More...
tl::expected< void, std::string >	syncSendGoal (const typename ActionT::Goal &goal, typename ClientGoalHandle::FeedbackCallback feedback_fn) override
	Implementation of ClientInterfaceBase::syncSendGoal for an rclcpp action client. More...
tl::expected< typename ActionClientBehaviorBase::ClientGoalHandle::WrappedResult, std::string >	syncGetResult (const std::string &timeout_message) const override
	Implementation of ClientInterfaceBase::syncGetResult for an rclcpp action client. More...
tl::expected< std::shared_ptr< typename ActionT::Impl::CancelGoalService::Response >, std::string >	syncCancelGoal () const override
	Implementation of ClientInterfaceBase::syncCancelGoal for an rclcpp action client. More...

Private Member Attributes Index

std::shared_ptr< rclcpp::Node >	node_
	Node to use when initializing the action client. More...
std::shared_ptr< rclcpp::CallbackGroup >	mutually_exclusive_callback_group_
	Mutually-exclusive callback group used by the action client. More...
std::string	current_action_name_
	Action name used by the action client. More...
std::shared_ptr< rclcpp_action::Client< ActionT > >	client_
	Action client. More...
std::shared_ptr< typename ActionClientBehaviorBase::ClientGoalHandle >	goal_handle_
	Action goal handle created by the action client when the goal request is accepted by the server. More...
std::mutex	goal_handle_mutex_
	Protects access to goal_handle_. More...
std::chrono::duration< double >	wait_for_server_timeout_
	Duration in seconds to wait for the action server to be available before failing. More...
std::chrono::duration< double >	goal_response_timeout_
	Duration in seconds to wait for a goal response before failing. More...
std::chrono::duration< double >	goal_result_timeout_
	Duration in seconds to wait for a result before failing. More...
std::chrono::duration< double >	cancel_response_timeout_
	Duration in seconds to wait for a cancel response before failing. More...

Description

Implements ClientInterfaceBase for the rclcpp action client.

Definition at line 91 of file action_client_behavior_base.hpp.

Public Constructors

RclcppClientInterface()

moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface::RclcppClientInterface (const std::shared_ptr< BehaviorContext > & behavior_context)

explicit

Constructor for this implementation.

Parameters

node	Node to use when initializing the action client.

Declaration at line 98 of file action_client_behavior_base.hpp, definition at line 22 of file action_client_behavior_base_impl.hpp.

Public Member Functions

initialize()

void moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface::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)

virtual

Implementation of ClientInterfaceBase::initialize for an rclcpp action client.

Sets client_ to a new action client instance

Declaration at line 104 of file action_client_behavior_base.hpp, definition at line 30 of file action_client_behavior_base_impl.hpp.

syncCancelGoal()

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

virtual

Implementation of ClientInterfaceBase::syncCancelGoal for an rclcpp action client.

Calls the action client's async_cancel_goal function and blocks while waiting on the future which it returns. This implementation also returns an error result if the action goal handle is not initialized or not in-progress.

Declaration at line 136 of file action_client_behavior_base.hpp, definition at line 160 of file action_client_behavior_base_impl.hpp.

syncGetResult()

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

virtual

Implementation of ClientInterfaceBase::syncGetResult for an rclcpp action client.

Calls the action client's async_get_result function and blocks while waiting on the future which it returns. This implementation also returns an error result if the action goal handle is not initialized or not in-progress.

Declaration at line 128 of file action_client_behavior_base.hpp, definition at line 89 of file action_client_behavior_base_impl.hpp.

syncSendGoal()

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

virtual

Implementation of ClientInterfaceBase::syncSendGoal for an rclcpp action client.

Calls the action client's async_send_goal function and blocks while waiting on the future which it returns.

Declaration at line 119 of file action_client_behavior_base.hpp, definition at line 60 of file action_client_behavior_base_impl.hpp.

waitForActionServer()

bool moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface::waitForActionServer ()

virtual

Implementation of ClientInterfaceBase::waitForActionServer for an rclcpp action client.

Calls the action client's wait_for_action_server function.

Declaration at line 113 of file action_client_behavior_base.hpp, definition at line 54 of file action_client_behavior_base_impl.hpp.

Private Member Attributes

cancel_response_timeout_

std::chrono::duration<double> moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface::cancel_response_timeout_

Duration in seconds to wait for a cancel response before failing.

Definition at line 167 of file action_client_behavior_base.hpp.

client_

std::shared_ptr<rclcpp_action::Client<ActionT> > moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface::client_

Action client.

Definition at line 149 of file action_client_behavior_base.hpp.

current_action_name_

std::string moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface::current_action_name_

Action name used by the action client.

Definition at line 146 of file action_client_behavior_base.hpp.

goal_handle_

std::shared_ptr<typename ActionClientBehaviorBase::ClientGoalHandle> moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface::goal_handle_

Action goal handle created by the action client when the goal request is accepted by the server.

Definition at line 152 of file action_client_behavior_base.hpp.

goal_handle_mutex_

std::mutex moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface::goal_handle_mutex_

mutable

Protects access to goal_handle_.

Definition at line 155 of file action_client_behavior_base.hpp.

goal_response_timeout_

std::chrono::duration<double> moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface::goal_response_timeout_

Duration in seconds to wait for a goal response before failing.

Definition at line 161 of file action_client_behavior_base.hpp.

goal_result_timeout_

std::chrono::duration<double> moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface::goal_result_timeout_

Duration in seconds to wait for a result before failing.

Definition at line 164 of file action_client_behavior_base.hpp.

mutually_exclusive_callback_group_

std::shared_ptr<rclcpp::CallbackGroup> moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface::mutually_exclusive_callback_group_

Mutually-exclusive callback group used by the action client.

Definition at line 143 of file action_client_behavior_base.hpp.

node_

std::shared_ptr<rclcpp::Node> moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface::node_

Node to use when initializing the action client.

Definition at line 140 of file action_client_behavior_base.hpp.

wait_for_server_timeout_

std::chrono::duration<double> moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface::wait_for_server_timeout_

Duration in seconds to wait for the action server to be available before failing.

Definition at line 158 of file action_client_behavior_base.hpp.

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

• action_client_behavior_base.hpp
• action_client_behavior_base_impl.hpp

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