#include <client.hpp>

Inheritance diagram for rclcpp_action::Client< ActionT >:

Collaboration diagram for rclcpp_action::Client< ActionT >:

Public Types
using	Goal = typename ActionT::Goal

using	Feedback = typename ActionT::Feedback

using	GoalHandle = ClientGoalHandle< ActionT >

using	Result = typename GoalHandle::Result

using	FeedbackCallback = typename ClientGoalHandle< ActionT >::FeedbackCallback

using	CancelRequest = typename ActionT::CancelGoalService::Request

using	CancelResponse = typename ActionT::CancelGoalService::Response

Public Member Functions
	Client (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging, const std::string &action_name, const rcl_action_client_options_t client_options=rcl_action_client_get_default_options())

std::shared_future< typename GoalHandle::SharedPtr >	async_send_goal (const Goal &goal, FeedbackCallback callback=nullptr, bool ignore_result=false)

std::shared_future< Result >	async_get_result (typename GoalHandle::SharedPtr goal_handle)

std::shared_future< bool >	async_cancel_goal (typename GoalHandle::SharedPtr goal_handle)

std::shared_future< typename CancelResponse::SharedPtr >	async_cancel_all_goals ()

std::shared_future< typename CancelResponse::SharedPtr >	async_cancel_goals_before (const rclcpp::Time &stamp)

virtual	~Client ()

Public Member Functions inherited from rclcpp_action::ClientBase
virtual RCLCPP_ACTION_PUBLIC	~ClientBase ()

RCLCPP_ACTION_PUBLIC bool	action_server_is_ready () const
	Return true if there is an action server that is ready to take goal requests. More...

template<typename RatioT = std::milli>
bool	wait_for_action_server (std::chrono::duration< int64_t, RatioT > timeout=std::chrono::duration< int64_t, RatioT >(-1))
	Wait for action_server_is_ready() to become true, or until the given timeout is reached. More...

RCLCPP_ACTION_PUBLIC size_t	get_number_of_ready_subscriptions () override

RCLCPP_ACTION_PUBLIC size_t	get_number_of_ready_timers () override

RCLCPP_ACTION_PUBLIC size_t	get_number_of_ready_clients () override

RCLCPP_ACTION_PUBLIC size_t	get_number_of_ready_services () override

RCLCPP_ACTION_PUBLIC size_t	get_number_of_ready_guard_conditions () override

RCLCPP_ACTION_PUBLIC bool	add_to_wait_set (rcl_wait_set_t *wait_set) override

RCLCPP_ACTION_PUBLIC bool	is_ready (rcl_wait_set_t *wait_set) override

RCLCPP_ACTION_PUBLIC void	execute () override

Additional Inherited Members
Protected Types inherited from rclcpp_action::ClientBase
using	ResponseCallback = std::function< void(std::shared_ptr< void > response)>

Protected Member Functions inherited from rclcpp_action::ClientBase
RCLCPP_ACTION_PUBLIC	ClientBase (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging, const std::string &action_name, const rosidl_action_type_support_t *type_support, const rcl_action_client_options_t &options)

RCLCPP_ACTION_PUBLIC bool	wait_for_action_server_nanoseconds (std::chrono::nanoseconds timeout)
	Wait for action_server_is_ready() to become true, or until the given timeout is reached. More...

RCLCPP_ACTION_PUBLIC rclcpp::Logger	get_logger ()

virtual RCLCPP_ACTION_PUBLIC GoalID	generate_goal_id ()

virtual RCLCPP_ACTION_PUBLIC void	send_goal_request (std::shared_ptr< void > request, ResponseCallback callback)

virtual RCLCPP_ACTION_PUBLIC void	send_result_request (std::shared_ptr< void > request, ResponseCallback callback)

virtual RCLCPP_ACTION_PUBLIC void	send_cancel_request (std::shared_ptr< void > request, ResponseCallback callback)

virtual RCLCPP_ACTION_PUBLIC void	handle_goal_response (const rmw_request_id_t &response_header, std::shared_ptr< void > goal_response)

virtual RCLCPP_ACTION_PUBLIC void	handle_result_response (const rmw_request_id_t &response_header, std::shared_ptr< void > result_response)

virtual RCLCPP_ACTION_PUBLIC void	handle_cancel_response (const rmw_request_id_t &response_header, std::shared_ptr< void > cancel_response)

Detailed Description

template<typename ActionT>
class rclcpp_action::Client< ActionT >

Action Client.

This class creates an action client.

Create an instance of this server using rclcpp_action::create_client().

Internally, this class is responsible for:

coverting between the C++ action type and generic types for rclcpp_action::ClientBase, and
calling user callbacks.

Member Typedef Documentation

◆ Goal

template<typename ActionT >

using rclcpp_action::Client< ActionT >::Goal = typename ActionT::Goal

◆ Feedback

template<typename ActionT >

using rclcpp_action::Client< ActionT >::Feedback = typename ActionT::Feedback

◆ GoalHandle

template<typename ActionT >

using rclcpp_action::Client< ActionT >::GoalHandle = ClientGoalHandle<ActionT>

◆ Result

template<typename ActionT >

using rclcpp_action::Client< ActionT >::Result = typename GoalHandle::Result

◆ FeedbackCallback

template<typename ActionT >

using rclcpp_action::Client< ActionT >::FeedbackCallback = typename ClientGoalHandle<ActionT>::FeedbackCallback

◆ CancelRequest

template<typename ActionT >

using rclcpp_action::Client< ActionT >::CancelRequest = typename ActionT::CancelGoalService::Request

◆ CancelResponse

template<typename ActionT >

using rclcpp_action::Client< ActionT >::CancelResponse = typename ActionT::CancelGoalService::Response

Constructor & Destructor Documentation

◆ Client()

template<typename ActionT >

rclcpp_action::Client< ActionT >::Client	(	rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_base,
		rclcpp::node_interfaces::NodeGraphInterface::SharedPtr	node_graph,
		rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr	node_logging,
		const std::string &	action_name,
		const rcl_action_client_options_t	client_options = `rcl_action_client_get_default_options()`
	)

inline

◆ ~Client()

template<typename ActionT >

virtual rclcpp_action::Client< ActionT >::~Client ( )

inlinevirtual

Member Function Documentation

◆ async_send_goal()

template<typename ActionT >

std::shared_future<typename GoalHandle::SharedPtr> rclcpp_action::Client< ActionT >::async_send_goal	(	const Goal &	goal,
		FeedbackCallback	callback = `nullptr`,
		bool	ignore_result = `false`
	)

inline

◆ async_get_result()

template<typename ActionT >

std::shared_future<Result> rclcpp_action::Client< ActionT >::async_get_result ( typename GoalHandle::SharedPtr goal_handle )

inline

◆ async_cancel_goal()

template<typename ActionT >

std::shared_future<bool> rclcpp_action::Client< ActionT >::async_cancel_goal ( typename GoalHandle::SharedPtr goal_handle )

inline

◆ async_cancel_all_goals()

template<typename ActionT >

std::shared_future<typename CancelResponse::SharedPtr> rclcpp_action::Client< ActionT >::async_cancel_all_goals ( )

inline

◆ async_cancel_goals_before()

template<typename ActionT >

std::shared_future<typename CancelResponse::SharedPtr> rclcpp_action::Client< ActionT >::async_cancel_goals_before ( const rclcpp::Time & stamp )

inline

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

include/rclcpp_action/client.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

template<typename ActionT> class rclcpp_action::Client< ActionT >

Member Typedef Documentation

◆ Goal

◆ Feedback

◆ GoalHandle

◆ Result

◆ FeedbackCallback

◆ CancelRequest

◆ CancelResponse

Constructor & Destructor Documentation

◆ Client()

◆ ~Client()

Member Function Documentation

◆ async_send_goal()

◆ async_get_result()

◆ async_cancel_goal()

◆ async_cancel_all_goals()

◆ async_cancel_goals_before()

template<typename ActionT>
class rclcpp_action::Client< ActionT >