Class ZOROSActionServer<TActionMessage, TGoalMessage>

The actionlib stack provides a standardized interface for interfacing with preemptable tasks. Examples of this include moving the base to a target location, performing a laser scan and returning the resulting point cloud, detecting the handle of a door, etc. https://github.com/ros/actionlib/blob/noetic-devel/actionlib/include/actionlib/server/simple_action_server.h

Inheritance

System.Object

ZOROSActionServer<TActionMessage, TGoalMessage>

Implements

ZOROSUnityInterface

Inherited Members

System.Object.Equals(System.Object)

System.Object.Equals(System.Object, System.Object)

System.Object.GetHashCode()

System.Object.GetType()

System.Object.MemberwiseClone()

System.Object.ReferenceEquals(System.Object, System.Object)

System.Object.ToString()

Namespace: ZO.ROS

Assembly: Unity.ZeroSim.dll

Syntax

public class ZOROSActionServer<TActionMessage, TGoalMessage> : ZOROSUnityInterface where TActionMessage : ZOROSActionMessageInterface, new()

    where TGoalMessage : ZOROSActionGoalMessageInterface, new()

Type Parameters

Name	Description
TActionMessage
TGoalMessage

Fields

| Improve this Doc View Source

_name

Declaration

public string _name

Field Value

Type	Description
System.String

| Improve this Doc View Source

_ROSTopic

Declaration

public string _ROSTopic

Field Value

Type	Description
System.String

Properties

| Improve this Doc View Source

ActionStatusText

Declaration

public string ActionStatusText { get; protected set; }

Property Value

Type	Description
System.String

| Improve this Doc View Source

CurrentGoal

Declaration

public TGoalMessage CurrentGoal { get; protected set; }

Property Value

Type	Description
TGoalMessage

| Improve this Doc View Source

CurrentGoalActionStatus

The current goal action status. Setting this will set and publish the status of the current goal.

Declaration

public ActionStatusEnum CurrentGoalActionStatus { get; protected set; }

Property Value

Type	Description
ActionStatusEnum

| Improve this Doc View Source

Name

Unique name of the object. For example: "joint.hinge_from_left_wheel"

Declaration

public string Name { get; set; }

Property Value

Type	Description
System.String

| Improve this Doc View Source

NextGoal

Declaration

public TGoalMessage NextGoal { get; protected set; }

Property Value

Type	Description
TGoalMessage

| Improve this Doc View Source

NextGoalActionStatus

The current goal action status. Setting this will set and publish the status of the current goal.

Declaration

public ActionStatusEnum NextGoalActionStatus { get; protected set; }

Property Value

Type	Description
ActionStatusEnum

| Improve this Doc View Source

OnCancelReceived

Declaration

public Func<ZOROSActionServer<TActionMessage, TGoalMessage>, GoalIDMessage, Task> OnCancelReceived { get; set; }

Property Value

Type	Description
System.Func<ZOROSActionServer<TActionMessage, TGoalMessage>, GoalIDMessage, System.Threading.Tasks.Task>

| Improve this Doc View Source

OnGoalReceived

On goal action received delegate.

Declaration

public Func<ZOROSActionServer<TActionMessage, TGoalMessage>, TGoalMessage, Task> OnGoalReceived { get; set; }

Property Value

Type	Description
System.Func<ZOROSActionServer<TActionMessage, TGoalMessage>, TGoalMessage, System.Threading.Tasks.Task>

| Improve this Doc View Source

ROSBridgeConnection

The ROS Bridge singleton shortcut access.

Declaration

protected ZOROSBridgeConnection ROSBridgeConnection { get; }

Property Value

Type	Description
ZOROSBridgeConnection

| Improve this Doc View Source

ROSTopic

The ROS Topic. For example "/zerosim/joint_states"

Declaration

public string ROSTopic { get; set; }

Property Value

Type	Description
System.String

| Improve this Doc View Source

ROSUnityManager

The ROS Unity Manger singleton shortcut access.

Declaration

protected ZOROSUnityManager ROSUnityManager { get; }

Property Value

Type	Description
ZOROSUnityManager

Methods

| Improve this Doc View Source

AcceptNewGoal(TGoalMessage)

Accepts a new goal when one is available. The status of this goal is set to active upon acceptance, and the status of any previously active goal is set to preempted. Preempts received for the new goal between checking if isNewGoalAvailable or invocation of a goal callback and the acceptNewGoal call will not trigger a preempt callback. This means, isPreemptRequested should be called after accepting the goal even for callback-based implementations to make sure the new goal does not have a pending preempt request. http://wiki.ros.org/actionlib#SimpleActionServer_Goal_Policies

Declaration

public void AcceptNewGoal(TGoalMessage newGoal)

Parameters

Type	Name	Description
TGoalMessage	newGoal

| Improve this Doc View Source

Initialize()

Will connect to ROS bridge connect and disconnect events.

Declaration

public void Initialize()

| Improve this Doc View Source

OnROSBridgeConnected(ZOROSUnityManager)

Declaration

public void OnROSBridgeConnected(ZOROSUnityManager rosUnityManager)

Parameters

Type	Name	Description
ZOROSUnityManager	rosUnityManager

| Improve this Doc View Source

OnROSBridgeDisconnected(ZOROSUnityManager)

Declaration

public void OnROSBridgeDisconnected(ZOROSUnityManager rosUnityManager)

Parameters

Type	Name	Description
ZOROSUnityManager	rosUnityManager

| Improve this Doc View Source

PublishFeedback<T>(T)

Send feedback through the '/feedback' topic.

Declaration

public void PublishFeedback<T>(T feedback)

    where T : ZOROSMessageInterface

Parameters

Type	Name	Description
T	feedback

Type Parameters

Name	Description
T

| Improve this Doc View Source

PublishResult<T>(T)

Publish the final result of the action.

Declaration

protected void PublishResult<T>(T result)

    where T : ZOROSMessageInterface

Parameters

Type	Name	Description
T	result

Type Parameters

Name	Description
T

| Improve this Doc View Source

SetAborted(String)

Set status of the current goal to aborted.

Declaration

public void SetAborted(string reason = "")

Parameters

Type	Name	Description
System.String	reason	Optional string explaining the reason for the abort.

| Improve this Doc View Source

SetCanceled(ZOROSMessageInterface)

Set current goal to recalled or preempted

Declaration

public void SetCanceled(ZOROSMessageInterface result = null)

Parameters

Type	Name	Description
ZOROSMessageInterface	result

| Improve this Doc View Source

SetRejected(String)

Set the status of the NextGoal to rejected. depending on what the current status of the goal is

Declaration

public void SetRejected(string reason = "")

Parameters

Type	Name	Description
System.String	reason

| Improve this Doc View Source

SetSucceeded(ZOROSMessageInterface, String)

Set the current goal to succeeded.

Declaration

public void SetSucceeded(ZOROSMessageInterface result = null, string info = "")

Parameters

Type	Name	Description
ZOROSMessageInterface	result	Optional result message
System.String	info	Optional additional info

| Improve this Doc View Source

Terminate()

Will disconnect to ROS bridge connect and disconnect events.

Declaration

public void Terminate()

Implements

ZOROSUnityInterface