An action server wrapper to make applications simpler using Actions. More...

#include <nav2_util/include/nav2_util/simple_action_server.hpp>

Collaboration diagram for nav2_util::SimpleActionServer< ActionT >:

Public Types
typedef std::function< void()>	ExecuteCallback

typedef std::function< void()>	CompletionCallback

Public Member Functions
template<typename NodeT >
	SimpleActionServer (NodeT node, const std::string &action_name, ExecuteCallback execute_callback, CompletionCallback completion_callback=nullptr, std::chrono::milliseconds server_timeout=std::chrono::milliseconds(500), bool spin_thread=false, const rcl_action_server_options_t &options=rcl_action_server_get_default_options(), const bool realtime=false)
	An constructor for SimpleActionServer. More...

	SimpleActionServer (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 &action_name, ExecuteCallback execute_callback, CompletionCallback completion_callback=nullptr, std::chrono::milliseconds server_timeout=std::chrono::milliseconds(500), bool spin_thread=false, const rcl_action_server_options_t &options=rcl_action_server_get_default_options(), const bool realtime=false)
	An constructor for SimpleActionServer. More...

rclcpp_action::GoalResponse	handle_goal (const rclcpp_action::GoalUUID &, std::shared_ptr< const typename ActionT::Goal >)
	handle the goal requested: accept or reject. This implementation always accepts. More...

rclcpp_action::CancelResponse	handle_cancel (const std::shared_ptr< rclcpp_action::ServerGoalHandle< ActionT >> handle)
	Accepts cancellation requests of action server. More...

void	setSoftRealTimePriority ()
	Sets thread priority level.

void	handle_accepted (const std::shared_ptr< rclcpp_action::ServerGoalHandle< ActionT >> handle)
	Handles accepted goals and adds to preempted queue to switch to. More...

void	work ()
	Computed background work and processes stop requests.

void	activate ()
	Active action server.

void	deactivate ()
	Deactive action server.

bool	is_running ()
	Whether the action server is munching on a goal. More...

bool	is_server_active ()
	Whether the action server is active or not. More...

bool	is_preempt_requested () const
	Whether the action server has been asked to be preempted with a new goal. More...

const std::shared_ptr< const typename ActionT::Goal >	accept_pending_goal ()
	Accept pending goals. More...

void	terminate_pending_goal ()
	Terminate pending goals.

const std::shared_ptr< const typename ActionT::Goal >	get_current_goal () const
	Get the current goal object. More...

const rclcpp_action::GoalUUID	get_current_goal_id () const

const std::shared_ptr< const typename ActionT::Goal >	get_pending_goal () const
	Get the pending goal object. More...

bool	is_cancel_requested () const
	Whether or not a cancel command has come in. More...

void	terminate_all (typename std::shared_ptr< typename ActionT::Result > result=std::make_shared< typename ActionT::Result >())
	Terminate all pending and active actions. More...

void	terminate_current (typename std::shared_ptr< typename ActionT::Result > result=std::make_shared< typename ActionT::Result >())
	Terminate the active action. More...

void	succeeded_current (typename std::shared_ptr< typename ActionT::Result > result=std::make_shared< typename ActionT::Result >())
	Return success of the active action. More...

void	publish_feedback (typename std::shared_ptr< typename ActionT::Feedback > feedback)
	Publish feedback to the action server clients. More...

Protected Member Functions
constexpr auto	empty_result () const
	Generate an empty result object for an action type.

constexpr bool	is_active (const std::shared_ptr< rclcpp_action::ServerGoalHandle< ActionT >> handle) const
	Whether a given goal handle is currently active. More...

void	terminate (std::shared_ptr< rclcpp_action::ServerGoalHandle< ActionT >> &handle, typename std::shared_ptr< typename ActionT::Result > result=std::make_shared< typename ActionT::Result >())
	Terminate a particular action with a result. More...

void	info_msg (const std::string &msg) const
	Info logging.

void	debug_msg (const std::string &msg) const
	Debug logging.

void	error_msg (const std::string &msg) const
	Error logging.

void	warn_msg (const std::string &msg) const
	Warn logging.

Protected Attributes
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_

std::string	action_name_

ExecuteCallback	execute_callback_

CompletionCallback	completion_callback_

std::future< void >	execution_future_

bool	stop_execution_ {false}

bool	use_realtime_prioritization_ {false}

std::recursive_mutex	update_mutex_

bool	server_active_ {false}

bool	preempt_requested_ {false}

std::chrono::milliseconds	server_timeout_

std::shared_ptr< rclcpp_action::ServerGoalHandle< ActionT > >	current_handle_

std::shared_ptr< rclcpp_action::ServerGoalHandle< ActionT > >	pending_handle_

rclcpp_action::Server< ActionT >::SharedPtr	action_server_

bool	spin_thread_

rclcpp::CallbackGroup::SharedPtr	callback_group_ {nullptr}

rclcpp::executors::SingleThreadedExecutor::SharedPtr	executor_

std::unique_ptr< nav2_util::NodeThread >	executor_thread_

Detailed Description

template<typename ActionT>
class nav2_util::SimpleActionServer< ActionT >

An action server wrapper to make applications simpler using Actions.

Definition at line 38 of file simple_action_server.hpp.

Constructor & Destructor Documentation

◆ SimpleActionServer() [1/2]

template<typename ActionT >

template<typename NodeT >

nav2_util::SimpleActionServer< ActionT >::SimpleActionServer	(	NodeT	node,
		const std::string &	action_name,
		ExecuteCallback	execute_callback,
		CompletionCallback	completion_callback = `nullptr`,
		std::chrono::milliseconds	server_timeout = `std::chrono::milliseconds(500)`,
		bool	spin_thread = `false`,
		const rcl_action_server_options_t &	options = `rcl_action_server_get_default_options()`,
		const bool	realtime = `false`
	)

inlineexplicit

An constructor for SimpleActionServer.

Parameters

node	Ptr to node to make actions
action_name	Name of the action to call
execute_callback	Execution callback function of Action
server_timeout	Timeout to to react to stop or preemption requests
spin_thread	Whether to spin with a dedicated thread internally
options	Options to pass to the underlying rcl_action_server_t
realtime	Whether the action server's worker thread should have elevated prioritization (soft realtime)

Definition at line 65 of file simple_action_server.hpp.

◆ SimpleActionServer() [2/2]

template<typename ActionT >

nav2_util::SimpleActionServer< ActionT >::SimpleActionServer	(	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 &	action_name,
		ExecuteCallback	execute_callback,
		CompletionCallback	completion_callback = `nullptr`,
		std::chrono::milliseconds	server_timeout = `std::chrono::milliseconds(500)`,
		bool	spin_thread = `false`,
		const rcl_action_server_options_t &	options = `rcl_action_server_get_default_options()`,
		const bool	realtime = `false`
	)

inlineexplicit

An constructor for SimpleActionServer.

Parameters

<node	interfaces> Abstract node interfaces to make actions
action_name	Name of the action to call
execute_callback	Execution callback function of Action
server_timeout	Timeout to to react to stop or preemption requests
spin_thread	Whether to spin with a dedicated thread internally
options	Options to pass to the underlying rcl_action_server_t
realtime	Whether the action server's worker thread should have elevated prioritization (soft realtime)

Definition at line 94 of file simple_action_server.hpp.

References nav2_util::SimpleActionServer< ActionT >::handle_accepted(), nav2_util::SimpleActionServer< ActionT >::handle_cancel(), and nav2_util::SimpleActionServer< ActionT >::handle_goal().

Here is the call graph for this function:

Member Function Documentation

◆ accept_pending_goal()

template<typename ActionT >

const std::shared_ptr<const typename ActionT::Goal> nav2_util::SimpleActionServer< ActionT >::accept_pending_goal ( )

inline

Accept pending goals.

Returns: Goal Ptr to the goal that's going to be accepted

Definition at line 363 of file simple_action_server.hpp.

References nav2_util::SimpleActionServer< ActionT >::debug_msg(), nav2_util::SimpleActionServer< ActionT >::empty_result(), nav2_util::SimpleActionServer< ActionT >::error_msg(), and nav2_util::SimpleActionServer< ActionT >::is_active().

Referenced by nav2_util::SimpleActionServer< ActionT >::work().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_current_goal()

template<typename ActionT >

const std::shared_ptr<const typename ActionT::Goal> nav2_util::SimpleActionServer< ActionT >::get_current_goal ( ) const

inline

Get the current goal object.

Returns: Goal Ptr to the goal that's being processed currently

Definition at line 408 of file simple_action_server.hpp.

References nav2_util::SimpleActionServer< ActionT >::error_msg(), and nav2_util::SimpleActionServer< ActionT >::is_active().

Here is the call graph for this function:

◆ get_pending_goal()

template<typename ActionT >

const std::shared_ptr<const typename ActionT::Goal> nav2_util::SimpleActionServer< ActionT >::get_pending_goal ( ) const

inline

Get the pending goal object.

Returns: Goal Ptr to the goal that's pending

Definition at line 436 of file simple_action_server.hpp.

References nav2_util::SimpleActionServer< ActionT >::error_msg().

Here is the call graph for this function:

◆ handle_accepted()

template<typename ActionT >

void nav2_util::SimpleActionServer< ActionT >::handle_accepted ( const std::shared_ptr< rclcpp_action::ServerGoalHandle< ActionT >> handle )

inline

Handles accepted goals and adds to preempted queue to switch to.

Parameters

Goal	A server goal handle to cancel

Definition at line 200 of file simple_action_server.hpp.

References nav2_util::SimpleActionServer< ActionT >::debug_msg(), nav2_util::SimpleActionServer< ActionT >::error_msg(), nav2_util::SimpleActionServer< ActionT >::is_active(), nav2_util::SimpleActionServer< ActionT >::is_running(), nav2_util::SimpleActionServer< ActionT >::setSoftRealTimePriority(), nav2_util::SimpleActionServer< ActionT >::terminate(), and nav2_util::SimpleActionServer< ActionT >::work().

Referenced by nav2_util::SimpleActionServer< ActionT >::SimpleActionServer().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ handle_cancel()

template<typename ActionT >

rclcpp_action::CancelResponse nav2_util::SimpleActionServer< ActionT >::handle_cancel ( const std::shared_ptr< rclcpp_action::ServerGoalHandle< ActionT >> handle )

inline

Accepts cancellation requests of action server.

Parameters

uuid	Goal ID
Goal	A server goal handle to cancel

Returns: CancelResponse response of the goal cancelled

Definition at line 169 of file simple_action_server.hpp.

References nav2_util::SimpleActionServer< ActionT >::debug_msg(), and nav2_util::SimpleActionServer< ActionT >::warn_msg().

Referenced by nav2_util::SimpleActionServer< ActionT >::SimpleActionServer().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ handle_goal()

template<typename ActionT >

rclcpp_action::GoalResponse nav2_util::SimpleActionServer< ActionT >::handle_goal	(	const rclcpp_action::GoalUUID &	,
		std::shared_ptr< const typename ActionT::Goal >
	)

inline

handle the goal requested: accept or reject. This implementation always accepts.

Parameters

uuid	Goal ID
Goal	A shared pointer to the specific goal

Returns: GoalResponse response of the goal processed

Definition at line 146 of file simple_action_server.hpp.

References nav2_util::SimpleActionServer< ActionT >::debug_msg().

Referenced by nav2_util::SimpleActionServer< ActionT >::SimpleActionServer().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ is_active()

template<typename ActionT >

constexpr bool nav2_util::SimpleActionServer< ActionT >::is_active ( const std::shared_ptr< rclcpp_action::ServerGoalHandle< ActionT >> handle ) const

inlineconstexprprotected

Whether a given goal handle is currently active.

Parameters

handle Goal handle to check

Returns: Whether this goal handle is active

Definition at line 568 of file simple_action_server.hpp.

Referenced by nav2_util::SimpleActionServer< ActionT >::accept_pending_goal(), nav2_util::SimpleActionServer< ActionT >::get_current_goal(), nav2_util::SimpleActionServer< ActionT >::handle_accepted(), nav2_util::SimpleActionServer< ActionT >::publish_feedback(), nav2_util::SimpleActionServer< ActionT >::succeeded_current(), nav2_util::SimpleActionServer< ActionT >::terminate(), and nav2_util::SimpleActionServer< ActionT >::work().

Here is the caller graph for this function:

◆ is_cancel_requested()

template<typename ActionT >

bool nav2_util::SimpleActionServer< ActionT >::is_cancel_requested ( ) const

inline

Whether or not a cancel command has come in.

Returns: bool Whether a cancel command has been requested or not

Definition at line 452 of file simple_action_server.hpp.

References nav2_util::SimpleActionServer< ActionT >::error_msg().

Here is the call graph for this function:

◆ is_preempt_requested()

template<typename ActionT >

bool nav2_util::SimpleActionServer< ActionT >::is_preempt_requested ( ) const

inline

Whether the action server has been asked to be preempted with a new goal.

Returns: bool If there's a preemption request or not

Definition at line 353 of file simple_action_server.hpp.

◆ is_running()

template<typename ActionT >

bool nav2_util::SimpleActionServer< ActionT >::is_running ( )

inline

Whether the action server is munching on a goal.

Returns: bool If its running or not

Definition at line 332 of file simple_action_server.hpp.

Referenced by nav2_util::SimpleActionServer< ActionT >::deactivate(), and nav2_util::SimpleActionServer< ActionT >::handle_accepted().

Here is the caller graph for this function:

◆ is_server_active()

template<typename ActionT >

bool nav2_util::SimpleActionServer< ActionT >::is_server_active ( )

inline

Whether the action server is active or not.

Returns: bool If its active or not

Definition at line 343 of file simple_action_server.hpp.

◆ publish_feedback()

template<typename ActionT >

void nav2_util::SimpleActionServer< ActionT >::publish_feedback ( typename std::shared_ptr< typename ActionT::Feedback > feedback )

inline

Publish feedback to the action server clients.

Parameters

feedback A feedback object to send to the clients

Definition at line 517 of file simple_action_server.hpp.

References nav2_util::SimpleActionServer< ActionT >::error_msg(), and nav2_util::SimpleActionServer< ActionT >::is_active().

Here is the call graph for this function:

◆ succeeded_current()

template<typename ActionT >

void nav2_util::SimpleActionServer< ActionT >::succeeded_current ( typename std::shared_ptr< typename ActionT::Result > result = std::make_shared<typename ActionT::Result>() )

inline

Return success of the active action.

Parameters

result A result object to send to the terminated actions

Definition at line 500 of file simple_action_server.hpp.

References nav2_util::SimpleActionServer< ActionT >::debug_msg(), and nav2_util::SimpleActionServer< ActionT >::is_active().

Here is the call graph for this function:

◆ terminate()

template<typename ActionT >

void nav2_util::SimpleActionServer< ActionT >::terminate	(	std::shared_ptr< rclcpp_action::ServerGoalHandle< ActionT >> &	handle,
		typename std::shared_ptr< typename ActionT::Result >	result = `std::make_shared<typename ActionT::Result>()`
	)

inlineprotected

Terminate a particular action with a result.

Parameters

handle	goal handle to terminate
the	Results object to terminate the action with

Definition at line 579 of file simple_action_server.hpp.

References nav2_util::SimpleActionServer< ActionT >::info_msg(), nav2_util::SimpleActionServer< ActionT >::is_active(), and nav2_util::SimpleActionServer< ActionT >::warn_msg().

Referenced by nav2_util::SimpleActionServer< ActionT >::handle_accepted(), nav2_util::SimpleActionServer< ActionT >::terminate_all(), nav2_util::SimpleActionServer< ActionT >::terminate_current(), nav2_util::SimpleActionServer< ActionT >::terminate_pending_goal(), and nav2_util::SimpleActionServer< ActionT >::work().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ terminate_all()

template<typename ActionT >

void nav2_util::SimpleActionServer< ActionT >::terminate_all ( typename std::shared_ptr< typename ActionT::Result > result = std::make_shared<typename ActionT::Result>() )

inline

Terminate all pending and active actions.

Parameters

result A result object to send to the terminated actions

Definition at line 474 of file simple_action_server.hpp.

References nav2_util::SimpleActionServer< ActionT >::terminate().

Referenced by nav2_util::SimpleActionServer< ActionT >::deactivate(), and nav2_util::SimpleActionServer< ActionT >::work().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ terminate_current()

template<typename ActionT >

void nav2_util::SimpleActionServer< ActionT >::terminate_current ( typename std::shared_ptr< typename ActionT::Result > result = std::make_shared<typename ActionT::Result>() )

inline

Terminate the active action.

Parameters

result A result object to send to the terminated action

Definition at line 488 of file simple_action_server.hpp.

References nav2_util::SimpleActionServer< ActionT >::terminate().

Here is the call graph for this function:

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

nav2_util/include/nav2_util/simple_action_server.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename ActionT> class nav2_util::SimpleActionServer< ActionT >

Constructor & Destructor Documentation

◆ SimpleActionServer() [1/2]

◆ SimpleActionServer() [2/2]

Member Function Documentation

◆ accept_pending_goal()

◆ get_current_goal()

◆ get_pending_goal()

◆ handle_accepted()

◆ handle_cancel()

◆ handle_goal()

◆ is_active()

◆ is_cancel_requested()

◆ is_preempt_requested()

◆ is_running()

◆ is_server_active()

◆ publish_feedback()

◆ succeeded_current()

◆ terminate()

◆ terminate_all()

◆ terminate_current()

template<typename ActionT>
class nav2_util::SimpleActionServer< ActionT >