UROS2ActionServer Class Reference

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

#include <ROS2ActionServer.h>

Inheritance diagram for UROS2ActionServer:

Collaboration diagram for UROS2ActionServer:

Public Member Functions
virtual void	Destroy () override
	Destroy action server from rclc. More...
virtual void	ProcessReady (rcl_wait_set_t *wait_set) override
	Determine the relevant action server functions to call. More...
void	ProcessAndSendCancelResponse (const int InReturnCode)
	Process and send cancel response with rcl_action_process_cancel_request. More...
void	SendGoalResponse ()
	Send action goal response with rcl_action_send_goal_response. More...
void	SendFeedback ()
	Update and send feedback with rcl_action_publish_feedback. More...
void	SendResultResponse ()
	Update and send feedback with rcl_action_send_result_response. More...
void	SetDelegates (const FActionCallback &InGoalDelegate, const FSimpleCallback &InCancelDelegate, const FSimpleCallback &InResultDelegate)
	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...

Public Attributes
rcl_action_server_t	server
	ROS2 action server 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 server with rcl_action_server_init. More...

Additional Inherited Members

Detailed Description

Class implementing ROS2 action servers. Wrapper class of rclc action server. Callbacks are set through the SetDelegates.

method

See also

rclc action client

[Unreal Engine

Delegates](https://docs.unrealengine.com/5.1/en-US/ProgrammingAndScripting/ProgrammingWithCPP/UnrealArchitecture/Delegates/)

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

Member Function Documentation

Destroy()

virtual void UROS2ActionServer::Destroy ( )

overridevirtual

Destroy action server from rclc.

Reimplemented from UROS2Action.

InitializeActionComponent()

virtual void UROS2ActionServer::InitializeActionComponent ( )

overrideprivatevirtual

Initialize ROS2 action server with rcl_action_server_init.

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

Reimplemented from UROS2Action.

ProcessAndSendCancelResponse()

void UROS2ActionServer::ProcessAndSendCancelResponse

(

const int

InReturnCode

)

Process and send cancel response with rcl_action_process_cancel_request.

Parameters

InReturnCode

return code

See also

CancelGoal

UFUNCTION(BlueprintCallable)

ProcessReady()

virtual void UROS2ActionServer::ProcessReady ( rcl_wait_set_t *  wait_set )

overridevirtual

Determine the relevant action server functions to call.

Parameters

wait_set

Reimplemented from UROS2Action.

SendFeedback()

void UROS2ActionServer::SendFeedback

(

)

Update and send feedback with rcl_action_publish_feedback.

UFUNCTION(BlueprintCallable)

SendGoalResponse()

void UROS2ActionServer::SendGoalResponse

(

)

Send action goal response with rcl_action_send_goal_response.

UFUNCTION(BlueprintCallable)

SendResultResponse()

void UROS2ActionServer::SendResultResponse

(

)

Update and send feedback with rcl_action_send_result_response.

UFUNCTION(BlueprintCallable)

SetDelegates()

void UROS2ActionServer::SetDelegates	(	const FActionCallback &	InGoalDelegate,
		const FSimpleCallback &	InCancelDelegate,
		const FSimpleCallback &	InResultDelegate
	)

Set the Delegates.

Parameters

HandleGoal
HandleCancel
HandleAccepted

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/ROS2ActionServer.h