def __init__(self,
ns,
ActionSpec,
goal_cb,
cancel_cb=nop_cb,
auto_start=True):
self.ns = ns
try:
a = ActionSpec()
self.ActionSpec = ActionSpec
self.ActionGoal = type(a.action_goal)
self.ActionResult = type(a.action_result)
self.ActionResultType = type(a.action_result.result)
self.ActionFeedback = type(a.action_feedback)
except AttributeError:
raise ActionException("Type is not an action spec: %s" %
str(ActionSpec))
self.goal_sub = None
self.cancel_sub = None
self.status_pub = None
self.result_pub = None
self.feedback_pub = None
self.lock = threading.RLock()
self.status_timer = None
self.status_list = []
self.last_cancel = rospy.Time()
self.status_list_timeout = rospy.Duration()
self.id_generator = GoalIDGenerator()
self.goal_callback = goal_cb
assert (self.goal_callback)
self.cancel_callback = cancel_cb
self.auto_start = auto_start
self.started = False
if self.auto_start:
rospy.logwarn(
"You've passed in true for auto_start to the python action server, you should always pass "
"in false to avoid race conditions.")
self.start()
def __init__(self, ActionSpec):
self.list_mutex = threading.RLock()
self.statuses = []
self.send_goal_fn = None
try:
a = ActionSpec()
self.ActionSpec = ActionSpec
self.ActionGoal = type(a.action_goal)
self.ActionResult = type(a.action_result)
self.ActionFeedback = type(a.action_feedback)
except AttributeError:
raise ActionException("Type is not an action spec: %s" %
str(ActionSpec))
def __init__(self, ns, ActionSpec):
self.ns = ns
self.last_status_msg = None
try:
a = ActionSpec()
self.ActionSpec = ActionSpec
self.ActionGoal = type(a.action_goal)
self.ActionResult = type(a.action_result)
self.ActionFeedback = type(a.action_feedback)
except AttributeError:
raise ActionException("Type is not an action spec: %s" %
str(ActionSpec))
self.pub_queue_size = rospy.get_param(
'actionlib_client_pub_queue_size', 10)
if self.pub_queue_size < 0:
self.pub_queue_size = 10
self.pub_goal = rospy.Publisher(rospy.remap_name(ns) + '/goal',
self.ActionGoal,
queue_size=self.pub_queue_size)
self.pub_cancel = rospy.Publisher(rospy.remap_name(ns) + '/cancel',
GoalID,
queue_size=self.pub_queue_size)
self.manager = GoalManager(ActionSpec)
self.manager.register_send_goal_fn(self.pub_goal.publish)
self.manager.register_cancel_fn(self.pub_cancel.publish)
self.sub_queue_size = rospy.get_param(
'actionlib_client_sub_queue_size', -1)
if self.sub_queue_size < 0:
self.sub_queue_size = None
self.status_sub = rospy.Subscriber(rospy.remap_name(ns) + '/status',
GoalStatusArray,
callback=self._status_cb,
queue_size=self.sub_queue_size)
self.result_sub = rospy.Subscriber(rospy.remap_name(ns) + '/result',
self.ActionResult,
callback=self._result_cb,
queue_size=self.sub_queue_size)
self.feedback_sub = rospy.Subscriber(rospy.remap_name(ns) +
'/feedback',
self.ActionFeedback,
callback=self._feedback_cb,
queue_size=self.sub_queue_size)