robokudo.action_servers.action_client

Classes

DebugActionClient

Debug Action Client for the Query Action Server.

Functions

main([args])

Module Contents

class robokudo.action_servers.action_client.DebugActionClient

Bases: rclpy.node.Node

Debug Action Client for the Query Action Server. Allows sending dynamic goals and handles feedback, result, and cancellation.

_action_client: rclpy.action.ActionClient

_goal_handle: typing_extensions.Optional[rclpy.action.client.ClientGoalHandle] = None

_cancel_timer: typing_extensions.Optional[rclpy.timer.Timer] = None

done: bool = False

send_goal(goal_type: str) → None

Waits for the action server and sends a dynamic goal.

Parameters:

goal_type – Type of the goal to send (e.g., ‘human’, ‘robot’, etc.)

goal_response_callback(future: rclpy.task.Future) → None

Handles the response from the action server regarding goal acceptance.

Parameters:

future – The future of the async goal task returned by the action client upon sending a goal.

feedback_callback(feedback_msg: robokudo_msgs.action._query.Query_FeedbackMessage) → None

Processes feedback messages from the action server.

Parameters:

feedback_msg – The feedback message returned by the action client.

cancel_goal() → None

Sends a cancel request for the active goal.

cancel_done_callback(future: rclpy.task.Future) → None

Handles the response from the action server regarding goal cancellation.

Parameters:

future – The future of the async goal task returned by the action client upon cancelling a goal.

result_callback(future: rclpy.task.Future) → None

Processes the result from the action server.

Parameters:

future – The future of the async goal task returned by the action client upon getting the goal result.

robokudo.action_servers.action_client.main(args=None)