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RCLCPP_ACTION_PUBLIC | ServerBase (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base, rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging, const std::string &name, const rosidl_action_type_support_t *type_support, const rcl_action_server_options_t &options) |
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virtual RCLCPP_ACTION_PUBLIC std::pair< GoalResponse, std::shared_ptr< void > > | call_handle_goal_callback (GoalUUID &, std::shared_ptr< void > request)=0 |
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virtual RCLCPP_ACTION_PUBLIC CancelResponse | call_handle_cancel_callback (const GoalUUID &uuid)=0 |
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virtual RCLCPP_ACTION_PUBLIC GoalUUID | get_goal_id_from_goal_request (void *message)=0 |
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virtual RCLCPP_ACTION_PUBLIC std::shared_ptr< void > | create_goal_request ()=0 |
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virtual RCLCPP_ACTION_PUBLIC void | call_goal_accepted_callback (std::shared_ptr< rcl_action_goal_handle_t > rcl_goal_handle, GoalUUID uuid, std::shared_ptr< void > goal_request_message)=0 |
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virtual RCLCPP_ACTION_PUBLIC GoalUUID | get_goal_id_from_result_request (void *message)=0 |
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virtual RCLCPP_ACTION_PUBLIC std::shared_ptr< void > | create_result_request ()=0 |
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virtual RCLCPP_ACTION_PUBLIC std::shared_ptr< void > | create_result_response (decltype(action_msgs::msg::GoalStatus::status) status)=0 |
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RCLCPP_ACTION_PUBLIC void | publish_status () |
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RCLCPP_ACTION_PUBLIC void | notify_goal_terminal_state () |
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RCLCPP_ACTION_PUBLIC void | publish_result (const GoalUUID &uuid, std::shared_ptr< void > result_msg) |
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RCLCPP_ACTION_PUBLIC void | publish_feedback (std::shared_ptr< void > feedback_msg) |
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Base Action Server implementation This class should not be used directly by users writing an action server. Instead users should use rclcpp_action::Server
.
Internally, this class is responsible for interfacing with the rcl_action
API.