capabilities2_runner::EnCapRunner< ActionT > Class Template Reference

encapsulated capability runner More...

#include "encap_runner.hpp"

Inheritance diagram for capabilities2_runner::EnCapRunner< ActionT >:

Collaboration diagram for capabilities2_runner::EnCapRunner< ActionT >:

Public Member Functions
	EnCapRunner ()
virtual void	init_encapsulated_action (rclcpp::Node::SharedPtr node, const runner_opts &run_config, const std::string &action_name, std::function< void(Event &)> print)
	init encapsulated action
virtual void	stop (const std::string &bond_id, const std::string &instance_id="") override
	stop the encapsulated action server
virtual void	handle_goal (const rclcpp_action::GoalUUID &uuid, std::shared_ptr< const capabilities2_msgs::action::Capability::Goal > goal)
	handle encap action goal
virtual void	handle_cancel (const std::shared_ptr< rclcpp_action::ServerGoalHandle< capabilities2_msgs::action::Capability > > goal_handle)
	handle encap action cancel goal
virtual void	handle_accepted (const std::shared_ptr< rclcpp_action::ServerGoalHandle< capabilities2_msgs::action::Capability > > goal_handle)
	handle encap action accepted

Private Attributes
std::shared_ptr< rclcpp_action::Server< capabilities2_msgs::action::Capability > >	encap_action_

Detailed Description

template<typename ActionT>
class capabilities2_runner::EnCapRunner< ActionT >

encapsulated capability runner

Create an action client to run an action based capability using an encapsulated capability action this allows a system to run an action that is not a managed action

Use the generate action, and generate result functions from the action runner to implement an encapsulation strategy for child classes

Constructor & Destructor Documentation

EnCapRunner()

template<typename ActionT >

capabilities2_runner::EnCapRunner< ActionT >::EnCapRunner ( )

inline

Member Function Documentation

handle_accepted()

template<typename ActionT >

virtual void capabilities2_runner::EnCapRunner< ActionT >::handle_accepted ( const std::shared_ptr< rclcpp_action::ServerGoalHandle< capabilities2_msgs::action::Capability > >  goal_handle )

virtual

handle encap action accepted

Parameters

goal_handle

handle_cancel()

template<typename ActionT >

virtual void capabilities2_runner::EnCapRunner< ActionT >::handle_cancel ( const std::shared_ptr< rclcpp_action::ServerGoalHandle< capabilities2_msgs::action::Capability > >  goal_handle )

virtual

handle encap action cancel goal

Parameters

goal_handle

handle_goal()

template<typename ActionT >

virtual void capabilities2_runner::EnCapRunner< ActionT >::handle_goal ( const rclcpp_action::GoalUUID &  uuid, std::shared_ptr< const capabilities2_msgs::action::Capability::Goal >  goal  )

virtual

handle encap action goal

Parameters

uuid
goal

init_encapsulated_action()

template<typename ActionT >

virtual void capabilities2_runner::EnCapRunner< ActionT >::init_encapsulated_action ( rclcpp::Node::SharedPtr  node, const runner_opts &  run_config, const std::string &  action_name, std::function< void(Event &)>  print  )

inlinevirtual

init encapsulated action

call in start when inheriting from EncapRunner to initialize the encapsulated action server and the base action runner this is deferred since the action client topic name is not known at this level of abstraction

Parameters

node	shared pointer to the capabilities node. Allows to use ros node related functionalities
run_config	runner configuration loaded from the yaml file
action_name	action name used in the yaml file, used to load specific configuration from the run_config

stop()

template<typename ActionT >

virtual void capabilities2_runner::EnCapRunner< ActionT >::stop ( const std::string &  bond_id, const std::string &  instance_id = ""  )

inlineoverridevirtual

stop the encapsulated action server

call the parent stop and stop the encapsulated action

Member Data Documentation

encap_action_

template<typename ActionT >

std::shared_ptr<rclcpp_action::Server<capabilities2_msgs::action::Capability> > capabilities2_runner::EnCapRunner< ActionT >::encap_action_

private

encap action server

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The documentation for this class was generated from the following file:

• capabilities2_runner/include/capabilities2_runner/encap_runner.hpp