harmoni_common_lib.action_client

Module Contents

Classes

SimpleGoalState

HarmoniActionClient

A wrapper around SimpleActionClient that is structured for HARMONI architecture.

Attributes

path

using_kinetic

libgcc_s

harmoni_common_lib.action_client.path
harmoni_common_lib.action_client.using_kinetic
harmoni_common_lib.action_client.libgcc_s
class harmoni_common_lib.action_client.SimpleGoalState
PENDING = 0
ACTIVE = 1
DONE = 2
class harmoni_common_lib.action_client.HarmoniActionClient(name)

Bases: object

A wrapper around SimpleActionClient that is structured for HARMONI architecture.

Credit goes to https://github.com/ros/actionlib/blob/noetic-devel/actionlib/src/actionlib/simple_action_client.py for the simple_action_client this is based on.

Routers and managers are clients. This class provides basic client functionality which routers and managers extend, including basic type checking, warnings, interrupts, etc.

send_goal(action_goal, optional_data='', condition='', time_out=60, wait=True)

Sends a goal to the action server tied to this client.

Parameters:

  • action_goal (harmoniGoal) – The goal object given to the action server

  • optional_data –

Reset of check variables. Send goal and set the time out

setup_client(action_type, result_cb_fnc=None, feedback_cb_fnc=None, wait=True)

Init client action variables and setup client

Parameters:

  • action_type (str) – The name of the action server the client should connect to. #TODO rename. this is just the server name.

  • result_cb_fnc (func) – [Optional] A callback function handle for action results (done state).

  • feedback_cb_fnc (func) – [Optional] A callback function handle for action feedback.

  • wait (bool) – Indicates whether or not to wait

wait_for_server(timeout=rospy.Duration())
send_goal_and_wait(goal, execute_timeout=rospy.Duration(), preempt_timeout=rospy.Duration())
wait_for_result(timeout=rospy.Duration())
get_result()
get_state()
get_goal_status_text()
cancel_all_goals()
cancel_goals_at_and_before_time(time)
cancel_goal()
stop_tracking_goal()
_handle_transition(gh)
_handle_feedback(gh, feedback)
_result_cb(terminal_state, result)

Save the action result