Class Action<TGoal, TFeedback, TResult>

constructor

• new Action<TGoal = unknown, TFeedback = unknown, TResult = unknown>(
      options: { actionType: string; name: string; ros: Ros },
  ): Action<TGoal, TFeedback, TResult>

  Type Parameters

  • TGoal = unknown
  • TFeedback = unknown
  • TResult = unknown

  Parameters

  • options: { actionType: string; name: string; ros: Ros }

    • actionType: string

      The action type, like 'example_interfaces/Fibonacci'.

    • name: string

      The action name, like '/fibonacci'.

    • ros: Ros

      The ROSLIB.Ros connection handle.

  Returns Action<TGoal, TFeedback, TResult>

actionType

isAdvertised

name

ros

advertise

• advertise(
      actionCallback: (goal: TGoal, id: string) => void,
      cancelCallback: (id: string) => void,
  ): void

  Advertise the action. This turns the Action object from a client into a server. The callback will be called with every goal sent to this action.

  Parameters

  • actionCallback: (goal: TGoal, id: string) => void

    This works similarly to the callback for a C++ action.

  • cancelCallback: (id: string) => void

    A callback function to execute when the action is canceled.

  Returns void

cancelGoal

• cancelGoal(id: string): void

  Cancels an action goal.

  Parameters

  • id: string

    The ID of the action goal to cancel.

  Returns void

sendFeedback

• sendFeedback(id: string, feedback: TFeedback): void

  Helper function to send action feedback inside an action handler.

  Parameters

  • id: string

    The action goal ID.

  • feedback: TFeedback

    The feedback to send.

  Returns void

sendGoal

• sendGoal(
      goal: TGoal,
      resultCallback: (result: TResult) => void,
      feedbackCallback?: (feedback: TFeedback) => void,
      failedCallback?: (error: string) => void,
  ): string | undefined

  Sends an action goal. Returns the feedback in the feedback callback while the action is running and the result in the result callback when the action is completed. Does nothing if this action is currently advertised.

  Parameters

  • goal: TGoal

    The action goal to send.

  • resultCallback: (result: TResult) => void

    The callback function when the action is completed.

  • OptionalfeedbackCallback: (feedback: TFeedback) => void

    The callback function when the action pulishes feedback.

  • OptionalfailedCallback: (error: string) => void = console.error

    The callback function when the action failed.

  Returns string | undefined

setCanceled

• setCanceled(id: string, result: TResult): void

  Helper function to set an action as canceled.

  Parameters

  • id: string

    The action goal ID.

  • result: TResult

    The result to set.

  Returns void

setFailed

• setFailed(id: string): void

  Helper function to set an action as failed.

  Parameters

  • id: string

    The action goal ID.

  Returns void

setSucceeded

• setSucceeded(id: string, result: TResult): void

  Helper function to set an action as succeeded.

  Parameters

  • id: string

    The action goal ID.

  • result: TResult

    The result to set.

  Returns void

unadvertise

• unadvertise(): void

  Unadvertise a previously advertised action.

  Returns void