15 #ifndef RCL_ACTION__TYPES_H_ 16 #define RCL_ACTION__TYPES_H_ 25 #include "action_msgs/msg/goal_info.h" 26 #include "action_msgs/msg/goal_status.h" 27 #include "action_msgs/msg/goal_status_array.h" 28 #include "action_msgs/srv/cancel_goal.h" 34 #include "rosidl_generator_c/action_type_support_struct.h" 38 #define RCL_RET_ACTION_NAME_INVALID 2000 39 #define RCL_RET_ACTION_GOAL_ACCEPTED 2100 41 #define RCL_RET_ACTION_GOAL_REJECTED 2101 43 #define RCL_RET_ACTION_CLIENT_INVALID 2102 45 #define RCL_RET_ACTION_CLIENT_TAKE_FAILED 2103 47 #define RCL_RET_ACTION_SERVER_INVALID 2200 49 #define RCL_RET_ACTION_SERVER_TAKE_FAILED 2201 51 #define RCL_RET_ACTION_GOAL_HANDLE_INVALID 2300 53 #define RCL_RET_ACTION_GOAL_EVENT_INVALID 2301 58 #define uuidcmp(uuid0, uuid1) (0 == memcmp(uuid0, uuid1, UUID_SIZE)) 59 #define zerouuid (uint8_t[UUID_SIZE]) {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} 60 #define uuidcmpzero(uuid) uuidcmp(uuid, (zerouuid)) 70 action_msgs__msg__GoalStatusArray
msg;
77 action_msgs__srv__CancelGoal_Response
msg;
87 #define GOAL_STATE_UNKNOWN action_msgs__msg__GoalStatus__STATUS_UNKNOWN 88 #define GOAL_STATE_ACCEPTED action_msgs__msg__GoalStatus__STATUS_ACCEPTED 89 #define GOAL_STATE_EXECUTING action_msgs__msg__GoalStatus__STATUS_EXECUTING 90 #define GOAL_STATE_CANCELING action_msgs__msg__GoalStatus__STATUS_CANCELING 91 #define GOAL_STATE_SUCCEEDED action_msgs__msg__GoalStatus__STATUS_SUCCEEDED 92 #define GOAL_STATE_CANCELED action_msgs__msg__GoalStatus__STATUS_CANCELED 93 #define GOAL_STATE_ABORTED action_msgs__msg__GoalStatus__STATUS_ABORTED 94 #define GOAL_STATE_NUM_STATES 7 115 rcl_action_goal_info_t
136 rcl_action_cancel_request_t
197 const size_t num_status,
270 const size_t num_goals_canceling,
299 #endif // RCL_ACTION__TYPES_H_ rcl_allocator_t allocator
Allocator used to initialize this struct.
Definition: types.h:72
RCL_ACTION_PUBLIC rcl_ret_t rcl_action_goal_status_array_fini(rcl_action_goal_status_array_t *status_array)
Finalize a rcl_action_goal_status_array_t.
RCL_ACTION_PUBLIC rcl_action_cancel_response_t rcl_action_get_zero_initialized_cancel_response(void)
Return a rcl_action_cancel_response_t with members set to NULL.
RCL_ACTION_PUBLIC rcl_action_goal_info_t rcl_action_get_zero_initialized_goal_info(void)
Return a rcl_action_goal_info_t with members set to zero values.
int8_t rcl_action_goal_state_t
Goal states.
Definition: types.h:86
#define RCL_ACTION_PUBLIC
Definition: visibility_control.h:50
const char * goal_state_descriptions[]
User friendly error messages for invalid trasntions.
const char * goal_event_descriptions[]
Structure which encapsulates a ROS Action Server.
Definition: action_server.h:36
action_msgs__srv__CancelGoal_Response msg
Definition: types.h:77
action_msgs__msg__GoalStatusArray msg
Definition: types.h:70
RCL_ACTION_PUBLIC rcl_action_cancel_request_t rcl_action_get_zero_initialized_cancel_request(void)
Return a rcl_action_cancel_request_t with members set to NULL.
struct rcl_action_cancel_response_t rcl_action_cancel_response_t
RCL_ACTION_PUBLIC rcl_ret_t rcl_action_cancel_response_fini(rcl_action_cancel_response_t *cancel_response)
Finalize a rcl_action_cancel_response_t.
action_msgs__msg__GoalInfo rcl_action_goal_info_t
Definition: types.h:66
RCL_ACTION_PUBLIC rcl_action_goal_status_array_t rcl_action_get_zero_initialized_goal_status_array(void)
Return a rcl_action_goal_status_array_t with members set to NULL.
rcl_allocator_t allocator
Allocator used to initialize this struct.
Definition: types.h:79
RCL_ACTION_PUBLIC rcl_ret_t rcl_action_cancel_response_init(rcl_action_cancel_response_t *cancel_response, const size_t num_goals_canceling, const rcl_allocator_t allocator)
Initialize a rcl_action_cancel_response_t.
rcl_action_goal_event_t
Goal state transition events.
Definition: types.h:102
action_msgs__srv__CancelGoal_Request rcl_action_cancel_request_t
Definition: types.h:74
action_msgs__msg__GoalStatus rcl_action_goal_status_t
Definition: types.h:67
RCL_ACTION_PUBLIC rcl_ret_t rcl_action_goal_status_array_init(rcl_action_goal_status_array_t *status_array, const size_t num_status, const rcl_allocator_t allocator)
Initialize a rcl_action_goal_status_array_t.
struct rcl_action_goal_status_array_t rcl_action_goal_status_array_t