#include <client.hpp>

Inheritance diagram for rclcpp_action::Client< ActionT >:

Collaboration diagram for rclcpp_action::Client< ActionT >:

Classes
class	GoalResponseCallback
	Compatibility wrapper for `goal_response_callback`. More...

struct	SendGoalOptions
	Options for sending a goal. More...

Public Types
using	Goal = typename ActionT::Goal

using	Feedback = typename ActionT::Feedback

using	GoalHandle = ClientGoalHandle< ActionT >

using	WrappedResult = typename GoalHandle::WrappedResult

using	FeedbackCallback = typename GoalHandle::FeedbackCallback

using	ResultCallback = typename GoalHandle::ResultCallback

using	CancelRequest = typename ActionT::Impl::CancelGoalService::Request

using	CancelResponse = typename ActionT::Impl::CancelGoalService::Response

using	CancelCallback = std::function< void(typename CancelResponse::SharedPtr)>

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())
	Construct an action client. More...

std::shared_future< typename GoalHandle::SharedPtr >	async_send_goal (const Goal &goal, const SendGoalOptions &options=SendGoalOptions())
	Send an action goal and asynchronously get the result. More...

std::shared_future< WrappedResult >	async_get_result (typename GoalHandle::SharedPtr goal_handle, ResultCallback result_callback=nullptr)
	Asynchronously get the result for an active goal. More...

std::shared_future< typename CancelResponse::SharedPtr >	async_cancel_goal (typename GoalHandle::SharedPtr goal_handle, CancelCallback cancel_callback=nullptr)
	Asynchronously request a goal be canceled. More...

std::shared_future< typename CancelResponse::SharedPtr >	async_cancel_all_goals (CancelCallback cancel_callback=nullptr)
	Asynchronously request for all goals to be canceled. More...

std::shared_future< typename CancelResponse::SharedPtr >	async_cancel_goals_before (const rclcpp::Time &stamp, CancelCallback cancel_callback=nullptr)
	Asynchronously request all goals at or before a specified time be canceled. More...

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 RepT = int64_t, typename RatioT = std::milli>
bool	wait_for_action_server (std::chrono::duration< RepT, RatioT > timeout=std::chrono::duration< RepT, 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 std::shared_ptr< void >	take_data () override

RCLCPP_ACTION_PUBLIC void	execute (std::shared_ptr< void > &data) override

Public Member Functions inherited from rclcpp::Waitable
virtual	~Waitable ()=default

virtual size_t	get_number_of_ready_events ()

bool	exchange_in_use_by_wait_set_state (bool in_use_state)

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 GoalUUID	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.

To create an instance of an action client use 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>

◆ WrappedResult

template<typename ActionT >

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

◆ FeedbackCallback

template<typename ActionT >

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

◆ ResultCallback

template<typename ActionT >

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

◆ CancelRequest

template<typename ActionT >

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

◆ CancelResponse

template<typename ActionT >

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

◆ CancelCallback

template<typename ActionT >

using rclcpp_action::Client< ActionT >::CancelCallback = std::function<void (typename CancelResponse::SharedPtr)>

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

Construct an action client.

This constructs an action client, but it will not work until it has been added to a node. Use rclcpp_action::create_client() to both construct and add to a node.

Parameters

[in]	node_base	A pointer to the base interface of a node.
[in]	node_graph	A pointer to an interface that allows getting graph information about a node.
[in]	node_logging	A pointer to an interface that allows getting a node's logger.
[in]	action_name	The action name.
[in]	client_options	Options to pass to the underlying `rcl_action::rcl_action_client_t`.

◆ ~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,
		const SendGoalOptions &	options = `SendGoalOptions()`
	)

inline

Send an action goal and asynchronously get the result.

If the goal is accepted by an action server, the returned future is set to a ClientGoalHandle. If the goal is rejected by an action server, then the future is set to a nullptr.

The returned goal handle is used to monitor the status of the goal and get the final result. It is valid as long as you hold a reference to the shared pointer or until the rclcpp_action::Client is destroyed at which point the goal status will become UNKNOWN.

Parameters

[in]	goal	The goal request.
[in]	options	Options for sending the goal request. Contains references to callbacks for the goal response (accepted/rejected), feedback, and the final result.

Returns: A future that completes when the goal has been accepted or rejected. If the goal is rejected, then the result will be a nullptr.

◆ async_get_result()

template<typename ActionT >

std::shared_future<WrappedResult> rclcpp_action::Client< ActionT >::async_get_result	(	typename GoalHandle::SharedPtr	goal_handle,
		ResultCallback	result_callback = `nullptr`
	)

inline

Asynchronously get the result for an active goal.

Exceptions

exceptions::UnknownGoalHandleError If the goal unknown or already reached a terminal state, or if there was an error requesting the result.

Parameters

[in]	goal_handle	The goal handle for which to get the result.
[in]	result_callback	Optional callback that is called when the result is received.

Returns: A future that is set to the goal result when the goal is finished.

◆ async_cancel_goal()

template<typename ActionT >

std::shared_future<typename CancelResponse::SharedPtr> rclcpp_action::Client< ActionT >::async_cancel_goal	(	typename GoalHandle::SharedPtr	goal_handle,
		CancelCallback	cancel_callback = `nullptr`
	)

inline

Asynchronously request a goal be canceled.

Exceptions

exceptions::UnknownGoalHandleError If the goal is unknown or already reached a terminal state.

Parameters

[in]	goal_handle	The goal handle requesting to be canceled.
[in]	cancel_callback	Optional callback that is called when the response is received. The callback takes one parameter: a shared pointer to the CancelResponse message.

Returns: A future to a CancelResponse message that is set when the request has been acknowledged by an action server. See action_msgs/CancelGoal.srv.

◆ async_cancel_all_goals()

template<typename ActionT >

std::shared_future<typename CancelResponse::SharedPtr> rclcpp_action::Client< ActionT >::async_cancel_all_goals ( CancelCallback cancel_callback = nullptr )

inline

Asynchronously request for all goals to be canceled.

Parameters

[in] cancel_callback Optional callback that is called when the response is received. The callback takes one parameter: a shared pointer to the CancelResponse message.

Returns: A future to a CancelResponse message that is set when the request has been acknowledged by an action server. See action_msgs/CancelGoal.srv.

◆ 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,
		CancelCallback	cancel_callback = `nullptr`
	)

inline

Asynchronously request all goals at or before a specified time be canceled.

Parameters

[in]	stamp	The timestamp for the cancel goal request.
[in]	cancel_callback	Optional callback that is called when the response is received. The callback takes one parameter: a shared pointer to the CancelResponse message.

Returns: A future to a CancelResponse message that is set when the request has been acknowledged by an action server. See action_msgs/CancelGoal.srv.

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

include/rclcpp_action/client.hpp

Classes

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ Goal

◆ Feedback

◆ GoalHandle

◆ WrappedResult

◆ FeedbackCallback

◆ ResultCallback

◆ CancelRequest

◆ CancelResponse

◆ CancelCallback

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 >