ManipulationActionServerBase Class Reference

Fixes ActionServerBase's action type to easyfleet_interfaces/Manipulation, so a concrete manipulation backend (MoveIt, a vendor SDK, a fake mock, ...) only has to subclass this and implement on_goal_received()/on_execute() – it never needs to spell out the action type itself. More...

#include <manipulation_action_server_base.hpp>

Inheritance diagram for ManipulationActionServerBase:

Additional Inherited Members
Public Types inherited from ActionServerBase< easyfleet_interfaces::action::Manipulation >
using	ActionType
	The wrapped rclcpp_action action type.
using	Goal
	Goal type of the wrapped action.
using	Feedback
	Feedback type of the wrapped action.
using	Result
	Result type of the wrapped action.
using	GoalHandle
	rclcpp_action server-side goal handle type of the wrapped action.
using	GoalHandleSharedPtr
	Shared pointer to a GoalHandle.
using	SharedPtr
	Shared pointer to an ActionServerBase<ActionT>.
Public Member Functions inherited from ActionServerBase< easyfleet_interfaces::action::Manipulation >
	ActionServerBase (const ActionServerBase &)=delete
ActionServerBase &	operator= (const ActionServerBase &)=delete
const std::string &	get_action_name () const noexcept
	Fully-qualified name of the action served by this instance.
bool	is_active () const
	Whether a goal is currently executing.
bool	is_preemptable () const noexcept
	Current value of the "allow_preemption" parameter for this action.
Protected Member Functions inherited from ActionServerBase< easyfleet_interfaces::action::Manipulation >
virtual rclcpp_action::GoalResponse	on_goal_received (const rclcpp_action::GoalUUID &uuid, std::shared_ptr< const Goal > goal)=0
	Validate an incoming goal.
virtual void	on_execute (const GoalHandleSharedPtr goal_handle)=0
	Run an accepted goal to completion.
virtual rclcpp_action::CancelResponse	on_cancel_requested (const GoalHandleSharedPtr goal_handle)
	Decide whether a cancel request (via the action's cancel service) should be accepted.
virtual void	on_preempted (const GoalHandleSharedPtr &preempted_goal_handle)
	Optional hook invoked (from the accepting thread, not the worker thread) when a new goal is about to preempt the currently running one.
bool	is_preempt_requested () const noexcept
	Whether a newer goal has been accepted and is waiting to replace the one currently executing.
bool	is_shutdown_requested () const noexcept
	Whether this object is being destroyed.
rclcpp::Logger	logger () const
	Logger of the node hosting this action server.

Detailed Description

Fixes ActionServerBase's action type to easyfleet_interfaces/Manipulation, so a concrete manipulation backend (MoveIt, a vendor SDK, a fake mock, ...) only has to subclass this and implement on_goal_received()/on_execute() – it never needs to spell out the action type itself.

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

• easyfleet_core/include/easyfleet_core/manipulation_action_server_base.hpp