MoveIt Pro Behavior Interface
5.0.1
Library for developing custom behaviors for use in MoveIt Pro
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Implements ClientInterfaceBase for the rclcpp action client. More...
#include <action_client_behavior_base.hpp>
Public Member Functions | |
RclcppClientInterface (const std::shared_ptr< rclcpp::Node > node) | |
Constructor for this implementation. More... | |
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 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... | |
Public Member Functions inherited from moveit_studio::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase | |
virtual | ~ClientInterfaceBase ()=default |
Implements ClientInterfaceBase for the rclcpp action client.
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explicit |
Constructor for this implementation.
node | Node to use when initializing the action client. |
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overridevirtual |
Implementation of ClientInterfaceBase::initialize for an rclcpp action client.
Sets client_ to a new action client instance
Implements moveit_studio::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase.
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overridevirtual |
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.
Implements moveit_studio::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase.
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overridevirtual |
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.
Implements moveit_studio::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase.
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overridevirtual |
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.
Implements moveit_studio::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase.
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overridevirtual |
Implementation of ClientInterfaceBase::waitForActionServer for an rclcpp action client.
Calls the action client's wait_for_action_server function.
Implements moveit_studio::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase.