rcl_action  master
C API providing common functionality for ROS actions.
rcl: Common functionality ROS actions

rcl_action provides a pure C implementation of the ROS concept of an action. It builds on top of the implementation of topics and services in rcl.

rcl_action consists of functions and structs for the following ROS action entities:

It also has some machinery that is necessary to wait on and act on these entities:

  • Wait sets for waiting on actions clients and action servers to be ready

Some useful abstractions and utilities: