robokudo.action_servers.action_server_base
==========================================

.. py:module:: robokudo.action_servers.action_server_base

.. autoapi-nested-parse::

   Base module for implementing a ros action server.



Classes
-------

.. autoapisummary::

   robokudo.action_servers.action_server_base.ActionServerBase


Module Contents
---------------

.. py:class:: ActionServerBase(action, feedback, result, auto_start: bool = True)

   A base class for ros action servers.


   .. py:attribute:: ros_pkg_name
      :value: 'robokudo'



   .. py:attribute:: name
      :value: 'action_server'



   .. py:attribute:: logger
      :value: None



   .. py:attribute:: _feedback


   .. py:attribute:: _result


   .. py:attribute:: _action_server


   .. py:attribute:: _feedback_msg
      :value: None



   .. py:attribute:: _result_msg
      :value: None



   .. py:method:: start_server()

      Start the ros action server.



   .. py:method:: _on_receive(goal)

      Callback method to receive goals.

      Parameters
      ----------
      goal:
          goal received from a client



   .. py:method:: _compute_result(goal) -> bool
      :abstractmethod:


      Compute result and send feedback messages if desired.

      During computation, regularly call self._check_for_preempt(), set self._feedback_msg,
      and call self._send_feedback(). Finally, set self._result_msg.

      Returns
      -------
      success: bool
          if computation was successful



   .. py:method:: _check_for_preempt() -> bool

      Check if preempt was requested.

      Returns
      -------
      preempt_requested: bool
          if preempt was requested.



   .. py:method:: _send_feedback()

      Send the currently set feedback to the client.