#include <GripperActionServer.h>

Public Types
using	GripperCommand = control_msgs::action::GripperCommand

using	GoalHandleGripperCommand = rclcpp_action::ServerGoalHandle< control_msgs::action::GripperCommand >

Public Member Functions
	GripperActionServer (const AZStd::string &actionName, const AZ::EntityId &entityId)

void	CancelGoal (std::shared_ptr< GripperCommand::Result > result)

void	GoalSuccess (std::shared_ptr< GripperCommand::Result > result)

void	PublishFeedback (std::shared_ptr< GripperCommand::Feedback > feedback)

bool	IsGoalActiveState () const
	Check if the goal is in an active state.

bool	IsReadyForExecution () const
	Check if the goal is in a pending state.

Detailed Description

GripperActionServer is a class responsible for managing an action server controlling a gripper

Constructor & Destructor Documentation

ROS2Controllers::GripperActionServer::GripperActionServer	(	const AZStd::string &	actionName,
		const AZ::EntityId &	entityId
	)

Create an action server for GripperAction action and bind Goal callbacks.

Parameters

actionName	Name of the action, similar to topic or service name.
entityId	entity which will execute callbacks through GripperRequestBus.

void ROS2Controllers::GripperActionServer::CancelGoal ( std::shared_ptr< GripperCommand::Result > result )

Cancel the current goal.

Parameters

result Result to be passed to through action server to the client.

void ROS2Controllers::GripperActionServer::GoalSuccess ( std::shared_ptr< GripperCommand::Result > result )

Report goal success to the action server.

Parameters

result Result which contains success code.

void ROS2Controllers::GripperActionServer::PublishFeedback ( std::shared_ptr< GripperCommand::Feedback > feedback )

Publish feedback during an active action.

Parameters

feedback An action feedback message informing about the progress.

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