Template Class BehaviorServer

• Defined in File behavior_server__class.hpp

Inheritance Relationships

Base Type

• public as2::Node

Class Documentation

template<typename actionT>
class BehaviorServer : public as2::Node

Public Types

using GoalHandleAction = rclcpp_action::ServerGoalHandle<actionT>

using BehaviorStatus = as2_msgs::msg::BehaviorStatus

using start_srv = typename actionT::Impl::SendGoalService

using modify_srv = start_srv

using result_srv = typename actionT::Impl::GetResultService

using feedback_msg = typename actionT::Impl::FeedbackMessage

using goal_status_msg = typename actionT::Impl::GoalStatusMessage

using cancel_srv = typename actionT::Impl::CancelGoalService

Public Functions

void register_action()

rclcpp_action::GoalResponse handleGoal(const rclcpp_action::GoalUUID &uuid, std::shared_ptr<const typename actionT::Goal> goal)

rclcpp_action::CancelResponse handleCancel(const std::shared_ptr<GoalHandleAction> goal_handle)

void handleAccepted(const std::shared_ptr<GoalHandleAction> goal_handle)

BehaviorServer(const std::string &name, const rclcpp::NodeOptions &options = rclcpp::NodeOptions())

virtual bool on_activate(std::shared_ptr<const typename actionT::Goal> goal)

virtual bool on_modify(std::shared_ptr<const typename actionT::Goal> goal)

virtual bool on_deactivate(const std::shared_ptr<std::string> &message)

virtual bool on_pause(const std::shared_ptr<std::string> &message)

virtual bool on_resume(const std::shared_ptr<std::string> &message)

inline virtual void on_execution_end(const ExecutionStatus &state)

virtual ExecutionStatus on_run(const typename std::shared_ptr<const typename actionT::Goal> &goal, typename std::shared_ptr<typename actionT::Feedback> &feedback_msg, typename std::shared_ptr<typename actionT::Result> &result_msg)

bool activate(std::shared_ptr<const typename actionT::Goal> goal)

void modify(const typename modify_srv::Request::SharedPtr request, typename modify_srv::Response::SharedPtr response)

void deactivate(const typename std_srvs::srv::Trigger::Request::SharedPtr goal, typename std_srvs::srv::Trigger::Response::SharedPtr result)

void pause(const typename std_srvs::srv::Trigger::Request::SharedPtr goal, typename std_srvs::srv::Trigger::Response::SharedPtr result)

void resume(const typename std_srvs::srv::Trigger::Request::SharedPtr goal, typename std_srvs::srv::Trigger::Response::SharedPtr result)

void run(const typename std::shared_ptr<GoalHandleAction> &goal_handle_action)

inline void timer_callback()

void publish_behavior_status()

Public Members

std::string action_name_

rclcpp_action::Server<actionT>::SharedPtr action_server_

std::shared_ptr<GoalHandleAction> goal_handle_

as2_msgs::msg::BehaviorStatus behavior_status_