15 #ifndef RCLCPP_ACTION__CLIENT_GOAL_HANDLE_HPP_ 16 #define RCLCPP_ACTION__CLIENT_GOAL_HANDLE_HPP_ 20 #include <action_msgs/msg/goal_status.hpp> 37 UNKNOWN = action_msgs::msg::GoalStatus::STATUS_UNKNOWN,
38 SUCCEEDED = action_msgs::msg::GoalStatus::STATUS_SUCCEEDED,
39 CANCELED = action_msgs::msg::GoalStatus::STATUS_CANCELED,
40 ABORTED = action_msgs::msg::GoalStatus::STATUS_ABORTED
45 template<
typename ActionT>
48 template<
typename ActionT>
76 get_goal_stamp()
const;
100 call_feedback_callback(
105 set_result_awareness(
bool awareness);
108 set_status(int8_t status);
111 set_result(
const Result & result);
118 bool is_result_aware_{
false};
123 int8_t status_{GoalStatus::STATUS_ACCEPTED};
130 #endif // RCLCPP_ACTION__CLIENT_GOAL_HANDLE_HPP_
Action Client.
Definition: client.hpp:255
ResultCode
The possible statuses that an action goal can finish with.
Definition: client_goal_handle.hpp:35
ResultCode code
A status to indicate if the goal was canceled, aborted, or suceeded.
Definition: client_goal_handle.hpp:60
#define RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(...)
Definition: client_goal_handle.hpp:55
action_msgs::msg::GoalInfo GoalInfo
Definition: types.hpp:34
Definition: client.hpp:44
ActionT::Result::SharedPtr response
User defined fields sent back with an action.
Definition: client_goal_handle.hpp:62
Definition: client_goal_handle.hpp:49
GoalID goal_id
The unique identifier of the goal.
Definition: client_goal_handle.hpp:58
typename ActionT::Feedback Feedback
Definition: client_goal_handle.hpp:65