rclcpp_action::ClientBase Class Reference

#include <client.hpp>

Inheritance diagram for rclcpp_action::ClientBase:

Collaboration diagram for rclcpp_action::ClientBase:

Public Member Functions
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 void	execute () 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)

Protected Types
using	ResponseCallback = std::function< void(std::shared_ptr< void > response)>

Protected Member Functions
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 std::shared_ptr< void >	create_goal_response () const =0
virtual RCLCPP_ACTION_PUBLIC void	handle_goal_response (const rmw_request_id_t &response_header, std::shared_ptr< void > goal_response)
virtual std::shared_ptr< void >	create_result_response () const =0
virtual RCLCPP_ACTION_PUBLIC void	handle_result_response (const rmw_request_id_t &response_header, std::shared_ptr< void > result_response)
virtual std::shared_ptr< void >	create_cancel_response () const =0
virtual RCLCPP_ACTION_PUBLIC void	handle_cancel_response (const rmw_request_id_t &response_header, std::shared_ptr< void > cancel_response)
virtual std::shared_ptr< void >	create_feedback_message () const =0
virtual void	handle_feedback_message (std::shared_ptr< void > message)=0
virtual std::shared_ptr< void >	create_status_message () const =0
virtual void	handle_status_message (std::shared_ptr< void > message)=0

Detailed Description

Base Action Client implementation This class should not be used directly by users wanting to create an aciton client. Instead users should use rclcpp_action::Client<>.

Internally, this class is responsible for interfacing with the rcl_action API.

Member Typedef Documentation

ResponseCallback

using rclcpp_action::ClientBase::ResponseCallback = std::function<void (std::shared_ptr<void> response)>

protected

Constructor & Destructor Documentation

~ClientBase()

virtual RCLCPP_ACTION_PUBLIC rclcpp_action::ClientBase::~ClientBase ( )

virtual

ClientBase()

RCLCPP_ACTION_PUBLIC rclcpp_action::ClientBase::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  )

protected

Member Function Documentation

action_server_is_ready()

RCLCPP_ACTION_PUBLIC bool rclcpp_action::ClientBase::action_server_is_ready

(

)

const

Return true if there is an action server that is ready to take goal requests.

wait_for_action_server()

template<typename RepT = int64_t, typename RatioT = std::milli>

bool rclcpp_action::ClientBase::wait_for_action_server ( std::chrono::duration< RepT, RatioT >  timeout = std::chrono::duration<RepT, RatioT>(-1) )

inline

Wait for action_server_is_ready() to become true, or until the given timeout is reached.

get_number_of_ready_subscriptions()

RCLCPP_ACTION_PUBLIC size_t rclcpp_action::ClientBase::get_number_of_ready_subscriptions ( )

overridevirtual

Reimplemented from rclcpp::Waitable.

get_number_of_ready_timers()

RCLCPP_ACTION_PUBLIC size_t rclcpp_action::ClientBase::get_number_of_ready_timers ( )

overridevirtual

Reimplemented from rclcpp::Waitable.

get_number_of_ready_clients()

RCLCPP_ACTION_PUBLIC size_t rclcpp_action::ClientBase::get_number_of_ready_clients ( )

overridevirtual

Reimplemented from rclcpp::Waitable.

get_number_of_ready_services()

RCLCPP_ACTION_PUBLIC size_t rclcpp_action::ClientBase::get_number_of_ready_services ( )

overridevirtual

Reimplemented from rclcpp::Waitable.

get_number_of_ready_guard_conditions()

RCLCPP_ACTION_PUBLIC size_t rclcpp_action::ClientBase::get_number_of_ready_guard_conditions ( )

overridevirtual

Reimplemented from rclcpp::Waitable.

add_to_wait_set()

RCLCPP_ACTION_PUBLIC bool rclcpp_action::ClientBase::add_to_wait_set ( rcl_wait_set_t *  wait_set )

overridevirtual

Implements rclcpp::Waitable.

is_ready()

RCLCPP_ACTION_PUBLIC bool rclcpp_action::ClientBase::is_ready ( rcl_wait_set_t *  wait_set )

overridevirtual

Implements rclcpp::Waitable.

execute()

RCLCPP_ACTION_PUBLIC void rclcpp_action::ClientBase::execute ( )

overridevirtual

Implements rclcpp::Waitable.

wait_for_action_server_nanoseconds()

RCLCPP_ACTION_PUBLIC bool rclcpp_action::ClientBase::wait_for_action_server_nanoseconds ( std::chrono::nanoseconds  timeout )

protected

Wait for action_server_is_ready() to become true, or until the given timeout is reached.

get_logger()

RCLCPP_ACTION_PUBLIC rclcpp::Logger rclcpp_action::ClientBase::get_logger ( )

protected

generate_goal_id()

virtual RCLCPP_ACTION_PUBLIC GoalUUID rclcpp_action::ClientBase::generate_goal_id ( )

protectedvirtual

send_goal_request()

virtual RCLCPP_ACTION_PUBLIC void rclcpp_action::ClientBase::send_goal_request ( std::shared_ptr< void >  request, ResponseCallback  callback  )

protectedvirtual

send_result_request()

virtual RCLCPP_ACTION_PUBLIC void rclcpp_action::ClientBase::send_result_request ( std::shared_ptr< void >  request, ResponseCallback  callback  )

protectedvirtual

send_cancel_request()

virtual RCLCPP_ACTION_PUBLIC void rclcpp_action::ClientBase::send_cancel_request ( std::shared_ptr< void >  request, ResponseCallback  callback  )

protectedvirtual

create_goal_response()

virtual std::shared_ptr<void> rclcpp_action::ClientBase::create_goal_response ( ) const

protectedpure virtual

handle_goal_response()

virtual RCLCPP_ACTION_PUBLIC void rclcpp_action::ClientBase::handle_goal_response ( const rmw_request_id_t &  response_header, std::shared_ptr< void >  goal_response  )

protectedvirtual

create_result_response()

virtual std::shared_ptr<void> rclcpp_action::ClientBase::create_result_response ( ) const

protectedpure virtual

handle_result_response()

virtual RCLCPP_ACTION_PUBLIC void rclcpp_action::ClientBase::handle_result_response ( const rmw_request_id_t &  response_header, std::shared_ptr< void >  result_response  )

protectedvirtual

create_cancel_response()

virtual std::shared_ptr<void> rclcpp_action::ClientBase::create_cancel_response ( ) const

protectedpure virtual

handle_cancel_response()

virtual RCLCPP_ACTION_PUBLIC void rclcpp_action::ClientBase::handle_cancel_response ( const rmw_request_id_t &  response_header, std::shared_ptr< void >  cancel_response  )

protectedvirtual

create_feedback_message()

virtual std::shared_ptr<void> rclcpp_action::ClientBase::create_feedback_message ( ) const

protectedpure virtual

handle_feedback_message()

virtual void rclcpp_action::ClientBase::handle_feedback_message ( std::shared_ptr< void >  message )

protectedpure virtual

create_status_message()

virtual std::shared_ptr<void> rclcpp_action::ClientBase::create_status_message ( ) const

protectedpure virtual

handle_status_message()

virtual void rclcpp_action::ClientBase::handle_status_message ( std::shared_ptr< void >  message )

protectedpure virtual

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

• include/rclcpp_action/client.hpp