Template Class Client

Defined in File action_client_mock.hpp

Nested Relationships

Nested Types

Struct Client::SendGoalOptions

Inheritance Relationships

Base Types

public rclcpp_action::ClientBase (Class ClientBase)
public std::enable_shared_from_this< Client< ActionT > >

Class Documentation

template<typename ActionT> class Client : public rclcpp_action::ClientBase, public std::enable_shared_from_this<Client<ActionT>>

Public Types

using Goal = typename ActionT::Goal

using Feedback = typename ActionT::Feedback

using Result = typename ActionT::Result

using GoalHandle = ClientGoalHandle<ActionT>

using GoalHandleSharedPtr = typename GoalHandle::SharedPtr

using WrappedResult = typename GoalHandle::WrappedResult

using GoalResponseCallback = std::function<void(typename GoalHandle::SharedPtr)>

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 Functions

inline 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 &options, bool enable_feedback_msg_optimization = false)

inline ~Client()

inline void post_init_setup()

inline virtual bool action_server_is_ready() const

inline std::shared_future<WrappedResult> async_get_result(typename GoalHandle::SharedPtr &goal_handle, ResultCallback result_callback = nullptr)

inline std::shared_future<typename GoalHandle::SharedPtr> async_send_goal(const Goal &goal, const SendGoalOptions &options)

inline std::shared_future<typename CancelResponse::SharedPtr> async_cancel_all_goals(CancelCallback cancel_callback = nullptr)

inline std::shared_future<typename CancelResponse::SharedPtr> async_cancel_goal(typename GoalHandle::SharedPtr goal_handle, CancelCallback cancel_callback = nullptr)

inline std::shared_future<typename CancelResponse::SharedPtr> async_cancel_goals_before(const rclcpp::Time &stamp, CancelCallback cancel_callback = nullptr)

inline void stop_callbacks(typename GoalHandle::SharedPtr goal_handle)

inline void stop_callbacks(const GoalUUID &goal_id)

template<typename RepT = int64_t, typename RatioT = std::milli> inline bool wait_for_action_server(std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))

struct SendGoalOptions

Public Functions

inline SendGoalOptions()

inline void call_feedback_callback(std::shared_ptr<const Feedback> feedback)

Public Members

GoalResponseCallback goal_response_callback

FeedbackCallback feedback_callback

ResultCallback result_callback