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

#include <action_client_behavior_base.hpp>

Inheritance diagram for moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase:

Public Member Functions
virtual	~ClientInterfaceBase ()=default

virtual 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.

virtual bool	waitForActionServer () const =0
	Block until the action server is ready or a timeout is exceeded.

virtual 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.

virtual 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.

virtual 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.

Detailed Description

template<typename ActionT>
class moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase

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

Constructor & Destructor Documentation

◆ ~ClientInterfaceBase()

template<typename ActionT >

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

virtualdefault

Member Function Documentation

◆ initialize()

template<typename ActionT >

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
	)

pure virtual

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.

Implemented in moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface.

◆ syncCancelGoal()

template<typename ActionT >

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

pure virtual

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.

Implemented in moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface.

◆ syncGetResult()

template<typename ActionT >

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

pure virtual

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.

Implemented in moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface.

◆ syncSendGoal()

template<typename ActionT >

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

pure virtual

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.

Implemented in moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface.