robokudo.scripts.query_test_client

Classes

PrettyResultPrinter
RoboKudoActionClient	Debug Action Client for the Query Action Server.

Functions

main_cli(→ None)
main() → None)

Module Contents

class robokudo.scripts.query_test_client.PrettyResultPrinter

pretty_print_result(result: robokudo_msgs.action._query.Query_Result) → str

class robokudo.scripts.query_test_client.RoboKudoActionClient(preempt_timer: typing_extensions.Optional[float] = None)

Bases: rclpy.node.Node

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

rk_logger = None

_action_client: rclpy.action.ActionClient

_preempt_timer: float = None

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

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

done: bool = False

last_feedback: typing_extensions.Optional[robokudo_msgs.action._query.Query_FeedbackMessage] = None

goal_status: typing_extensions.Optional[action_msgs.msg.GoalStatus] = None

goal_result: typing_extensions.Optional[robokudo_msgs.action._query.Query_Result] = None

cancel_response: typing_extensions.Optional[rclpy.task.Future] = None

send_goal(goal_type: str) → None

Waits for the action server and sends a dynamic goal.

Parameters:

goal_type – Content of the type field in the goal sent to the action server.

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.

destroy_node() → None

Cancel the goal and destroys the ROS node.

robokudo.scripts.query_test_client.main_cli(args: typing_extensions.Optional[typing_extensions.List[str]] = None) → None

robokudo.scripts.query_test_client.main(timeout_seconds: float = 20.0, result: queue.Queue = Queue()) → None