Skip to content

Commit

Permalink
Add ActionServer (#270)
Browse files Browse the repository at this point in the history
* Add Action server functions to extension module
    * Separated service related macros into separate request and response calls
* Add server goal handle functions to extension module
* Update Action extension module to use conversion functions
* Add implementation of Python ActionServer
    * Handles goal and cancel requests, responds, and calls user-defined functions for executing goals.
    * Handle result requests
    * Handle expired goals
    * Publish goal status array and feedback
* Add `handle_accepted_callback` to ActionServer

Upon accepting a goal, the provided `handle_accepted_callback` is called with a reference to the goal handle.
The user can then decide to execute the goal or defer.
If `handle_accepted_callback` is not provided, then the default behavior is to execute the goal handle immediately.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
  • Loading branch information
jacobperron committed Mar 7, 2019
1 parent d943248 commit a1dbcb0
Show file tree
Hide file tree
Showing 6 changed files with 2,221 additions and 93 deletions.
1 change: 1 addition & 0 deletions rclpy/rclpy/action/__init__.py
Original file line number Diff line number Diff line change
Expand Up @@ -13,3 +13,4 @@
# limitations under the License.

from .client import ActionClient # noqa
from .server import ActionServer, CancelResponse, GoalResponse # noqa
Loading

0 comments on commit a1dbcb0

Please sign in to comment.