UROS2ActionClient Class Reference

Class implementing ROS2 action clients. Wrapper class of rclc action client. Callbacks are set through the SetDelegates. More...

#include <ROS2ActionClient.h>

Inheritance diagram for UROS2ActionClient:

Collaboration diagram for UROS2ActionClient:

Public Member Functions
virtual void	Destroy () override
	Destroy action client from rclc. More...
virtual void	ProcessReady (rcl_wait_set_t *wait_set) override
	Determine the relevant action client functions to call. More...
bool	SendGoal ()
	Send action goal with rcl_action_send_goal_request. More...
template<typename TAction , typename TUEStruct >
void	SendGoal (const TUEStruct &InGoalData)
	Send a goal. More...
void	SendResultRequest ()
	Send result request to get result with rcl_action_send_result_request. More...
void	SendCancelRequest ()
	Send cancel request with rcl_action_send_cancel_request. More...
void	SetDelegates (const FActionCallback &InFeedbackDelegate, const FActionCallback &InResultResponseDelegate, const FActionCallback &InGoalResponseDelegate, const FSimpleCallback &InCancelResponseDelegate)
	Set the Delegates. More...
Public Member Functions inherited from UROS2Action
virtual bool	InitializeWithROS2 (UROS2NodeComponent *InROS2Node)
	Initialize action. More...
virtual bool	Init ()
	Initialize action and action component. More...
virtual bool	InitializeAction ()
	Create and Initize action. More...

Static Public Member Functions
static UROS2ActionClient *	CreateActionClient (UObject *InOwner, const FString &InActionName, const TSubclassOf< UROS2GenericAction > &InActionClass, const FActionCallback &InGoalResponseDelegate, const FActionCallback &InResultResponseDelegate, const FActionCallback &InFeedbackDelegate, const FSimpleCallback &InCancelResponseDelegate, const UROS2QoS InGoalQoS=UROS2QoS::Services, const UROS2QoS InResultQoS=UROS2QoS::Services, const UROS2QoS InFeedbackQoS=UROS2QoS::Default, const UROS2QoS InCancelQoS=UROS2QoS::Services)
	Create Action Client. More...

Public Attributes
rcl_action_client_t	client
	ROS2 action client from rclc.
Public Attributes inherited from UROS2Action
FString	ActionName
TSubclassOf< UROS2GenericAction >	ActionClass
	type of action More...
UROS2GenericAction *	Action
	ROS2 Action Instance. More...
UROS2NodeComponent *	OwnerNode
	ROS2Node which own this action. More...
TEnumAsByte< UROS2State >	State = UROS2State::Created
	Action state. More...
UROS2QoS	CancelQoS = UROS2QoS::Services
	Quality of Cancel. More...
UROS2QoS	GoalQoS = UROS2QoS::Services
	Quality of Goal. More...
UROS2QoS	ResultQoS = UROS2QoS::Services
	Quality of Result. More...
UROS2QoS	FeedbackQoS = UROS2QoS::Default
	Quality of Feedback. More...

Private Member Functions
virtual void	InitializeActionComponent () override
	Initialize ROS2 action client with rcl_action_client_init. More...

Additional Inherited Members

Detailed Description

Class implementing ROS2 action clients. Wrapper class of rclc action client. Callbacks are set through the SetDelegates.

method

See also

rclc action client

Unreal Engine Delegates

UCLASS(ClassGroup = (Custom), Blueprintable, BlueprintType, meta = (BlueprintSpawnableComponent))

Member Function Documentation

CreateActionClient()

static UROS2ActionClient* UROS2ActionClient::CreateActionClient ( UObject *  InOwner, const FString &  InActionName, const TSubclassOf< UROS2GenericAction > &  InActionClass, const FActionCallback &  InGoalResponseDelegate, const FActionCallback &  InResultResponseDelegate, const FActionCallback &  InFeedbackDelegate, const FSimpleCallback &  InCancelResponseDelegate, const UROS2QoS  InGoalQoS = UROS2QoS::Services, const UROS2QoS  InResultQoS = UROS2QoS::Services, const UROS2QoS  InFeedbackQoS = UROS2QoS::Default, const UROS2QoS  InCancelQoS = UROS2QoS::Services  )

static

Create Action Client.

Parameters

InOwner
InActionName
InActionClass
InFeedbackDelegate
InResultResponseDelegate
InGoalResponseDelegate
InCancelResponseDelegate

Returns

UROS2ActionClient*

Destroy()

virtual void UROS2ActionClient::Destroy ( )

overridevirtual

Destroy action client from rclc.

Reimplemented from UROS2Action.

InitializeActionComponent()

virtual void UROS2ActionClient::InitializeActionComponent ( )

overrideprivatevirtual

Initialize ROS2 action client with rcl_action_client_init.

Set QOS for all goal, result, cancel, feedback and status

Reimplemented from UROS2Action.

ProcessReady()

virtual void UROS2ActionClient::ProcessReady ( rcl_wait_set_t *  wait_set )

overridevirtual

Determine the relevant action client functions to call.

Parameters

wait_set

Reimplemented from UROS2Action.

SendCancelRequest()

void UROS2ActionClient::SendCancelRequest

(

)

Send cancel request with rcl_action_send_cancel_request.

UFUNCTION(BlueprintCallable)

SendGoal() [1/2]

bool UROS2ActionClient::SendGoal

(

)

Send action goal with rcl_action_send_goal_request.

UFUNCTION(BlueprintCallable)

SendGoal() [2/2]

template<typename TAction , typename TUEStruct >

void UROS2ActionClient::SendGoal ( const TUEStruct &  InGoalData )

inline

Send a goal.

Template Parameters

TUEStruct

Parameters

InGoalData

SendResultRequest()

void UROS2ActionClient::SendResultRequest

(

)

Send result request to get result with rcl_action_send_result_request.

UFUNCTION(BlueprintCallable)

SetDelegates()

void UROS2ActionClient::SetDelegates	(	const FActionCallback &	InFeedbackDelegate,
		const FActionCallback &	InResultResponseDelegate,
		const FActionCallback &	InGoalResponseDelegate,
		const FSimpleCallback &	InCancelResponseDelegate
	)

Set the Delegates.

Parameters

SetGoal
Feedback
Result
GoalResponse
Cancel

UFUNCTION(BlueprintCallable)

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

• /home/docs/checkouts/readthedocs.org/user_builds/rclue/checkouts/latest/Source/rclUE/Public/ROS2ActionClient.h