15 #ifndef RCL_ACTION__ACTION_CLIENT_H_ 16 #define RCL_ACTION__ACTION_CLIENT_H_ 30 struct rcl_action_client_impl_t;
35 struct rcl_action_client_impl_t *
impl;
177 const rosidl_action_type_support_t * type_support,
178 const char * action_name,
274 bool * is_available);
322 const void * ros_goal_request,
323 int64_t * sequence_number);
370 void * ros_goal_response);
418 void * ros_feedback);
464 void * ros_status_array);
512 const void * ros_result_request,
513 int64_t * sequence_number);
610 const void * ros_cancel_request,
611 int64_t * sequence_number);
659 void * ros_cancel_response);
742 #endif // RCL_ACTION__ACTION_CLIENT_H_ RCL_ACTION_PUBLIC const char * rcl_action_client_get_action_name(const rcl_action_client_t *action_client)
Get the name of the action for a rcl_action_client_t.
Structure which encapsulates a ROS action client.
Definition: action_client.h:33
rmw_qos_profile_t result_service_qos
Definition: action_client.h:43
RCL_ACTION_PUBLIC rcl_ret_t rcl_action_take_status(const rcl_action_client_t *action_client, void *ros_status_array)
Take a ROS status message using a rcl_action_client_t.
struct rcl_action_client_options_t rcl_action_client_options_t
Options available for a rcl_action_client_t.
struct rcl_action_client_impl_t * impl
Definition: action_client.h:35
#define RCL_ACTION_PUBLIC
Definition: visibility_control.h:50
RCL_ACTION_PUBLIC rcl_ret_t rcl_action_client_fini(rcl_action_client_t *action_client, rcl_node_t *node)
Finalize a rcl_action_client_t.
rmw_qos_profile_t feedback_topic_qos
Definition: action_client.h:45
RCL_ACTION_PUBLIC bool rcl_action_client_is_valid(const rcl_action_client_t *action_client)
Check that a rcl_action_client_t is valid.
RCL_ACTION_PUBLIC rcl_ret_t rcl_action_server_is_available(const rcl_node_t *node, const rcl_action_client_t *client, bool *is_available)
Check if an action server is available for the given action client.
RCL_ACTION_PUBLIC rcl_ret_t rcl_action_client_init(rcl_action_client_t *action_client, rcl_node_t *node, const rosidl_action_type_support_t *type_support, const char *action_name, const rcl_action_client_options_t *options)
Initialize a rcl_action_client_t.
struct rcl_action_client_t rcl_action_client_t
Structure which encapsulates a ROS action client.
Options available for a rcl_action_client_t.
Definition: action_client.h:39
RCL_ACTION_PUBLIC rcl_ret_t rcl_action_take_goal_response(const rcl_action_client_t *action_client, rmw_request_id_t *response_header, void *ros_goal_response)
Take a response for a goal request from an action server using a rcl_action_client_t.
RCL_ACTION_PUBLIC rcl_ret_t rcl_action_send_result_request(const rcl_action_client_t *action_client, const void *ros_result_request, int64_t *sequence_number)
Send a request for the result of a completed goal associated with a rcl_action_client_t.
rmw_qos_profile_t goal_service_qos
Middleware quality of service settings for the action client.
Definition: action_client.h:42
RCL_ACTION_PUBLIC rcl_ret_t rcl_action_take_result_response(const rcl_action_client_t *action_client, rmw_request_id_t *response_header, void *ros_result)
Take a ROS result message for a completed goal associated with a rcl_action_client_t.
RCL_ACTION_PUBLIC rcl_action_client_t rcl_action_get_zero_initialized_client(void)
Return a rcl_action_client_t struct with members set to NULL.
rmw_qos_profile_t status_topic_qos
Definition: action_client.h:46
RCL_ACTION_PUBLIC rcl_ret_t rcl_action_send_cancel_request(const rcl_action_client_t *action_client, const void *ros_cancel_request, int64_t *sequence_number)
Send a cancel request for a goal using a rcl_action_client_t.
RCL_ACTION_PUBLIC const rcl_action_client_options_t * rcl_action_client_get_options(const rcl_action_client_t *action_client)
Return the options for a rcl_action_client_t.
RCL_ACTION_PUBLIC rcl_ret_t rcl_action_take_cancel_response(const rcl_action_client_t *action_client, rmw_request_id_t *response_header, void *ros_cancel_response)
Take a cancel response using a rcl_action_client_t.
RCL_ACTION_PUBLIC rcl_ret_t rcl_action_take_feedback(const rcl_action_client_t *action_client, void *ros_feedback)
Take a ROS feedback message for an active goal associated with a rcl_action_client_t.
rmw_qos_profile_t cancel_service_qos
Definition: action_client.h:44
rcl_allocator_t allocator
Custom allocator for the action client, used for incidental allocations.
Definition: action_client.h:49
RCL_ACTION_PUBLIC rcl_action_client_options_t rcl_action_client_get_default_options(void)
Return the default action client options in a rcl_action_client_options_t.
RCL_ACTION_PUBLIC rcl_ret_t rcl_action_send_goal_request(const rcl_action_client_t *action_client, const void *ros_goal_request, int64_t *sequence_number)
Send a ROS goal using a rcl_action_client_t.