robokudo.action_servers.action_server_base¶

Base module for implementing a ros action server.

Classes¶

ActionServerBase

A base class for ros action servers.

Module Contents¶

class robokudo.action_servers.action_server_base.ActionServerBase(action, feedback, result, auto_start: bool = True)¶

A base class for ros action servers.

ros_pkg_name = 'robokudo'¶

name = 'action_server'¶

logger = None¶

_feedback¶

_result¶

_action_server¶

_feedback_msg = None¶

_result_msg = None¶

start_server()¶: Start the ros action server.

_on_receive(goal)¶

Callback method to receive goals.

Parameters¶

goal:: goal received from a client

abstract _compute_result(goal) → bool¶

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

_check_for_preempt() → bool¶

Check if preempt was requested.

Returns¶

preempt_requested: bool: if preempt was requested.

_send_feedback()¶: Send the currently set feedback to the client.