Namespaces
	exceptions

Classes
class	Client
	Action Client. More...

class	ClientBase

class	ClientGoalHandle
	Class for interacting with goals sent from action clients. More...

class	DefaultActionStatusQoS

class	Server
	Action Server. More...

class	ServerBase

class	ServerGoalHandle
	Class to interact with goals on a server. More...

class	ServerGoalHandleBase

Typedefs
using	GoalUUID = std::array< uint8_t, UUID_SIZE >

using	GoalStatus = action_msgs::msg::GoalStatus

using	GoalInfo = action_msgs::msg::GoalInfo

Enumerations
enum	ResultCode : int8_t { ResultCode::UNKNOWN = action_msgs::msg::GoalStatus::STATUS_UNKNOWN, ResultCode::SUCCEEDED = action_msgs::msg::GoalStatus::STATUS_SUCCEEDED, ResultCode::CANCELED = action_msgs::msg::GoalStatus::STATUS_CANCELED, ResultCode::ABORTED = action_msgs::msg::GoalStatus::STATUS_ABORTED }
	The possible statuses that an action goal can finish with. More...

enum	GoalResponse : int8_t { GoalResponse::REJECT = 1, GoalResponse::ACCEPT_AND_EXECUTE = 2, GoalResponse::ACCEPT_AND_DEFER = 3 }
	A response returned by an action server callback when a goal is requested. More...

enum	CancelResponse : int8_t { CancelResponse::REJECT = 1, CancelResponse::ACCEPT = 2 }
	A response returned by an action server callback when a goal has been asked to be canceled. More...

Functions
template<typename ActionT >
Client< ActionT >::SharedPtr	create_client (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface, rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_interface, const std::string &name, rclcpp::CallbackGroup::SharedPtr group=nullptr, const rcl_action_client_options_t &options=rcl_action_client_get_default_options())
	Create an action client. More...

template<typename ActionT , typename NodeT >
Client< ActionT >::SharedPtr	create_client (NodeT node, const std::string &name, rclcpp::CallbackGroup::SharedPtr group=nullptr, const rcl_action_client_options_t &options=rcl_action_client_get_default_options())
	Create an action client. More...

template<typename ActionT >
Server< ActionT >::SharedPtr	create_server (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface, rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_interface, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface, rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_interface, const std::string &name, typename Server< ActionT >::GoalCallback handle_goal, typename Server< ActionT >::CancelCallback handle_cancel, typename Server< ActionT >::AcceptedCallback handle_accepted, const rcl_action_server_options_t &options=rcl_action_server_get_default_options(), rclcpp::CallbackGroup::SharedPtr group=nullptr)
	Create an action server. More...

template<typename ActionT , typename NodeT >
Server< ActionT >::SharedPtr	create_server (NodeT node, const std::string &name, typename Server< ActionT >::GoalCallback handle_goal, typename Server< ActionT >::CancelCallback handle_cancel, typename Server< ActionT >::AcceptedCallback handle_accepted, const rcl_action_server_options_t &options=rcl_action_server_get_default_options(), rclcpp::CallbackGroup::SharedPtr group=nullptr)
	Create an action server. More...

RCLCPP_ACTION_PUBLIC std::string	to_string (const GoalUUID &goal_id)
	Convert a goal id to a human readable string. More...

RCLCPP_ACTION_PUBLIC void	convert (const GoalUUID &goal_id, rcl_action_goal_info_t *info)

RCLCPP_ACTION_PUBLIC void	convert (const rcl_action_goal_info_t &info, GoalUUID *goal_id)

Typedef Documentation

◆ GoalUUID

using rclcpp_action::GoalUUID = typedef std::array<uint8_t, UUID_SIZE>

◆ GoalStatus

using rclcpp_action::GoalStatus = typedef action_msgs::msg::GoalStatus

◆ GoalInfo

using rclcpp_action::GoalInfo = typedef action_msgs::msg::GoalInfo

Enumeration Type Documentation

◆ ResultCode

enum rclcpp_action::ResultCode : int8_t

strong

The possible statuses that an action goal can finish with.

Enumerator
UNKNOWN
SUCCEEDED
CANCELED
ABORTED

◆ GoalResponse

enum rclcpp_action::GoalResponse : int8_t

strong

A response returned by an action server callback when a goal is requested.

Enumerator
REJECT	The goal is rejected and will not be executed.
ACCEPT_AND_EXECUTE	The server accepts the goal, and is going to begin execution immediately.
ACCEPT_AND_DEFER	The server accepts the goal, and is going to execute it later.

◆ CancelResponse

enum rclcpp_action::CancelResponse : int8_t

strong

A response returned by an action server callback when a goal has been asked to be canceled.

Enumerator
REJECT	The server will not try to cancel the goal.
ACCEPT	The server has agreed to try to cancel the goal.

Function Documentation

◆ create_client() [1/2]

template<typename ActionT >

Client<ActionT>::SharedPtr rclcpp_action::create_client	(	rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_base_interface,
		rclcpp::node_interfaces::NodeGraphInterface::SharedPtr	node_graph_interface,
		rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr	node_logging_interface,
		rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr	node_waitables_interface,
		const std::string &	name,
		rclcpp::CallbackGroup::SharedPtr	group = `nullptr`,
		const rcl_action_client_options_t &	options = `rcl_action_client_get_default_options()`
	)

Create an action client.

This function is equivalent to

See also: create_client()` however is using the individual node interfaces to create the client.

Parameters

[in]	node_base_interface	The node base interface of the corresponding node.
[in]	node_graph_interface	The node graph interface of the corresponding node.
[in]	node_logging_interface	The node logging interface of the corresponding node.
[in]	node_waitables_interface	The node waitables interface of the corresponding node.
[in]	name	The action name.
[in]	group	The action client will be added to this callback group. If `nullptr`, then the action client is added to the default callback group.
[in]	options	Options to pass to the underlying `rcl_action_client_t`.

◆ create_client() [2/2]

template<typename ActionT , typename NodeT >

Client<ActionT>::SharedPtr rclcpp_action::create_client	(	NodeT	node,
		const std::string &	name,
		rclcpp::CallbackGroup::SharedPtr	group = `nullptr`,
		const rcl_action_client_options_t &	options = `rcl_action_client_get_default_options()`
	)

Create an action client.

Parameters

[in]	node	The action client will be added to this node.
[in]	name	The action name.
[in]	group	The action client will be added to this callback group. If `nullptr`, then the action client is added to the default callback group.
[in]	options	Options to pass to the underlying `rcl_action_client_t`.

◆ create_server() [1/2]

template<typename ActionT >

Server<ActionT>::SharedPtr rclcpp_action::create_server	(	rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_base_interface,
		rclcpp::node_interfaces::NodeClockInterface::SharedPtr	node_clock_interface,
		rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr	node_logging_interface,
		rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr	node_waitables_interface,
		const std::string &	name,
		typename Server< ActionT >::GoalCallback	handle_goal,
		typename Server< ActionT >::CancelCallback	handle_cancel,
		typename Server< ActionT >::AcceptedCallback	handle_accepted,
		const rcl_action_server_options_t &	options = `rcl_action_server_get_default_options()`,
		rclcpp::CallbackGroup::SharedPtr	group = `nullptr`
	)

Create an action server.

All provided callback functions must be non-blocking. This function is equivalent to

See also: create_server()` however is using the individual node interfaces to create the server.; Server::Server() for more information.

Parameters

[in]	node_base_interface	The node base interface of the corresponding node.
[in]	node_clock_interface	The node clock interface of the corresponding node.
[in]	node_logging_interface	The node logging interface of the corresponding node.
[in]	node_waitables_interface	The node waitables interface of the corresponding node.
[in]	name	The action name.
[in]	handle_goal	A callback that decides if a goal should be accepted or rejected.
[in]	handle_cancel	A callback that decides if a goal should be attempted to be canceled. The return from this callback only indicates if the server will try to cancel a goal. It does not indicate if the goal was actually canceled.
[in]	handle_accepted	A callback that is called to give the user a handle to the goal.
[in]	options	Options to pass to the underlying `rcl_action_server_t`.
[in]	group	The action server will be added to this callback group. If `nullptr`, then the action server is added to the default callback group.

◆ create_server() [2/2]

template<typename ActionT , typename NodeT >

Server<ActionT>::SharedPtr rclcpp_action::create_server	(	NodeT	node,
		const std::string &	name,
		typename Server< ActionT >::GoalCallback	handle_goal,
		typename Server< ActionT >::CancelCallback	handle_cancel,
		typename Server< ActionT >::AcceptedCallback	handle_accepted,
		const rcl_action_server_options_t &	options = `rcl_action_server_get_default_options()`,
		rclcpp::CallbackGroup::SharedPtr	group = `nullptr`
	)

Create an action server.

All provided callback functions must be non-blocking.

See also: Server::Server() for more information.

Parameters

[in]	node]	The action server will be added to this node.
[in]	name	The action name.
[in]	handle_goal	A callback that decides if a goal should be accepted or rejected.
[in]	handle_cancel	A callback that decides if a goal should be attempted to be canceled. The return from this callback only indicates if the server will try to cancel a goal. It does not indicate if the goal was actually canceled.
[in]	handle_accepted	A callback that is called to give the user a handle to the goal.
[in]	options	Options to pass to the underlying `rcl_action_server_t`.
[in]	group	The action server will be added to this callback group. If `nullptr`, then the action server is added to the default callback group.

◆ to_string()

RCLCPP_ACTION_PUBLIC std::string rclcpp_action::to_string ( const GoalUUID & goal_id )

Convert a goal id to a human readable string.

◆ convert() [1/2]

RCLCPP_ACTION_PUBLIC void rclcpp_action::convert	(	const GoalUUID &	goal_id,
		rcl_action_goal_info_t *	info
	)

◆ convert() [2/2]

RCLCPP_ACTION_PUBLIC void rclcpp_action::convert	(	const rcl_action_goal_info_t &	info,
		GoalUUID *	goal_id
	)

Namespaces

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ GoalUUID

◆ GoalStatus

◆ GoalInfo

Enumeration Type Documentation

◆ ResultCode

◆ GoalResponse

◆ CancelResponse

Function Documentation

◆ create_client() [1/2]

◆ create_client() [2/2]

◆ create_server() [1/2]

◆ create_server() [2/2]

◆ to_string()

◆ convert() [1/2]

◆ convert() [2/2]