Class SimpleActionServer<TGoal, TFeedback, TResult>

An actionlib action server client.

Emits the following events:

'goal' - Goal sent by action client.
'cancel' - Action client has canceled the request.

Type Parameters

TGoal = unknown
TFeedback = unknown
TResult = unknown

Hierarchy

EventEmitter<{ cancel: undefined; goal: [TGoal] }>
- SimpleActionServer

Constructors

constructor

new SimpleActionServer<TGoal = unknown, TFeedback = unknown, TResult = unknown>(
options: { actionName: string; ros: Ros; serverName: string },
): SimpleActionServer<TGoal, TFeedback, TResult>
Type Parameters
- TGoal = unknown
- TFeedback = unknown
- TResult = unknown
Parameters
- options: { actionName: string; ros: Ros; serverName: string }
  - actionName: string
    The action message name, like 'actionlib_tutorials/FibonacciAction'.
  - ros: Ros
    The ROSLIB.Ros connection handle.
  - serverName: string
    The action server name, like '/fibonacci'.
Returns SimpleActionServer<TGoal, TFeedback, TResult>
Overrides EventEmitter<{ goal: [TGoal]; cancel: undefined; }>.constructor
- Defined in src/actionlib/SimpleActionServer.ts:48

Properties

actionName

actionName: string

currentGoal

currentGoal: { goal: TGoal; goal_id: GoalID } | null = null

feedbackPublisher

feedbackPublisher: Topic<
{ feedback: TFeedback; status: actionlib_msgs.GoalStatus },
>

nextGoal

nextGoal: { goal: TGoal; goal_id: GoalID } | null = null

resultPublisher

resultPublisher: Topic<{ result?: TResult; status: actionlib_msgs.GoalStatus }>

ros

ros: Ros

serverName

serverName: string

statusMessage

statusMessage: GoalStatusArray

`Optional`statusPublisher

statusPublisher?: Topic<GoalStatusArray>

`Static`prefixed

prefixed: string | boolean

Methods

addListener

addListener<T extends "cancel" | "goal">(
    event: T,
    fn: (
        ...args: ArgumentMap<{ cancel: undefined; goal: [TGoal] }>[Extract<
            T,
            "cancel"
            | "goal",
        >],
    ) => void,
    context?: any,
): this
Type Parameters
- T extends "cancel" | "goal"
Parameters
- event: T
- fn: (
      ...args: ArgumentMap<{ cancel: undefined; goal: [TGoal] }>[Extract<
          T,
          "cancel"
          | "goal",
      >],
  ) => void
- Optionalcontext: any
Returns this
Inherited from EventEmitter.addListener
- Defined in node_modules/eventemitter3/index.d.ts:45

emit

emit<T extends "cancel" | "goal">(
    event: T,
    ...args: ArgumentMap<{ cancel: undefined; goal: [TGoal] }>[Extract<
        T,
        "cancel"
        | "goal",
    >],
): boolean
Calls each of the listeners registered for a given event.
Type Parameters
- T extends "cancel" | "goal"
Parameters
- event: T
- ...args: ArgumentMap<{ cancel: undefined; goal: [TGoal] }>[Extract<T, "cancel" | "goal">]
Returns boolean
Inherited from EventEmitter.emit
- Defined in node_modules/eventemitter3/index.d.ts:32

eventNames

eventNames(): ("cancel" | "goal")[]
Return an array listing the events for which the emitter has registered listeners.

Returns ("cancel" | "goal")[]
Inherited from EventEmitter.eventNames
- Defined in node_modules/eventemitter3/index.d.ts:15

listenerCount

listenerCount(event: "cancel" | "goal"): number
Return the number of listeners listening to a given event.
Parameters
- event: "cancel" | "goal"
Returns number
Inherited from EventEmitter.listenerCount
- Defined in node_modules/eventemitter3/index.d.ts:27

listeners

listeners<T extends "cancel" | "goal">(
    event: T,
): (
    (
        ...args: ArgumentMap<{ cancel: undefined; goal: [TGoal] }>[Extract<
            T,
            "cancel"
            | "goal",
        >],
    ) => void
)[]
Return the listeners registered for a given event.
Type Parameters
- T extends "cancel" | "goal"
Parameters
- event: T
Returns (
    (
        ...args: ArgumentMap<{ cancel: undefined; goal: [TGoal] }>[Extract<
            T,
            "cancel"
            | "goal",
        >],
    ) => void
)[]
Inherited from EventEmitter.listeners
- Defined in node_modules/eventemitter3/index.d.ts:20

off

off<T extends "cancel" | "goal">(
    event: T,
    fn?: (
        ...args: ArgumentMap<{ cancel: undefined; goal: [TGoal] }>[Extract<
            T,
            "cancel"
            | "goal",
        >],
    ) => void,
    context?: any,
    once?: boolean,
): this
Type Parameters
- T extends "cancel" | "goal"
Parameters
- event: T
- Optionalfn: (
      ...args: ArgumentMap<{ cancel: undefined; goal: [TGoal] }>[Extract<
          T,
          "cancel"
          | "goal",
      >],
  ) => void
- Optionalcontext: any
- Optionalonce: boolean
Returns this
Inherited from EventEmitter.off
- Defined in node_modules/eventemitter3/index.d.ts:69

on

on<T extends "cancel" | "goal">(
    event: T,
    fn: (
        ...args: ArgumentMap<{ cancel: undefined; goal: [TGoal] }>[Extract<
            T,
            "cancel"
            | "goal",
        >],
    ) => void,
    context?: any,
): this
Add a listener for a given event.
Type Parameters
- T extends "cancel" | "goal"
Parameters
- event: T
- fn: (
      ...args: ArgumentMap<{ cancel: undefined; goal: [TGoal] }>[Extract<
          T,
          "cancel"
          | "goal",
      >],
  ) => void
- Optionalcontext: any
Returns this
Inherited from EventEmitter.on
- Defined in node_modules/eventemitter3/index.d.ts:40

once

once<T extends "cancel" | "goal">(
    event: T,
    fn: (
        ...args: ArgumentMap<{ cancel: undefined; goal: [TGoal] }>[Extract<
            T,
            "cancel"
            | "goal",
        >],
    ) => void,
    context?: any,
): this
Add a one-time listener for a given event.
Type Parameters
- T extends "cancel" | "goal"
Parameters
- event: T
- fn: (
      ...args: ArgumentMap<{ cancel: undefined; goal: [TGoal] }>[Extract<
          T,
          "cancel"
          | "goal",
      >],
  ) => void
- Optionalcontext: any
Returns this
Inherited from EventEmitter.once
- Defined in node_modules/eventemitter3/index.d.ts:54

removeAllListeners

removeAllListeners(event?: "cancel" | "goal"): this
Remove all listeners, or those of the specified event.
Parameters
- Optionalevent: "cancel" | "goal"
Returns this
Inherited from EventEmitter.removeAllListeners
- Defined in node_modules/eventemitter3/index.d.ts:79

removeListener

removeListener<T extends "cancel" | "goal">(
    event: T,
    fn?: (
        ...args: ArgumentMap<{ cancel: undefined; goal: [TGoal] }>[Extract<
            T,
            "cancel"
            | "goal",
        >],
    ) => void,
    context?: any,
    once?: boolean,
): this
Remove the listeners of a given event.
Type Parameters
- T extends "cancel" | "goal"
Parameters
- event: T
- Optionalfn: (
      ...args: ArgumentMap<{ cancel: undefined; goal: [TGoal] }>[Extract<
          T,
          "cancel"
          | "goal",
      >],
  ) => void
- Optionalcontext: any
- Optionalonce: boolean
Returns this
Inherited from EventEmitter.removeListener
- Defined in node_modules/eventemitter3/index.d.ts:63

sendFeedback

sendFeedback(feedback: TFeedback): void
Send a feedback message.
Parameters
- feedback: TFeedback
  The feedback to send to the client.
Returns void
- Defined in src/actionlib/SimpleActionServer.ts:251

setAborted

setAborted(result: TResult): void
Set action state to aborted and return to client.
Parameters
- result: TResult
  The result to return to the client.
Returns void
- Defined in src/actionlib/SimpleActionServer.ts:228

setPreempted

setPreempted(): void
Handle case where client requests preemption.

Returns void
- Defined in src/actionlib/SimpleActionServer.ts:263

setSucceeded

setSucceeded(result: TResult): void
Set action state to succeeded and return to client.
Parameters
- result: TResult
  The result to return to the client.
Returns void
- Defined in src/actionlib/SimpleActionServer.ts:205

Class SimpleActionServer<TGoal, TFeedback, TResult>

Type Parameters

Hierarchy

Index

Constructors

Properties

Methods

Constructors

constructor

Type Parameters

Parameters

actionName: string

ros: Ros

serverName: string

Returns SimpleActionServer<TGoal, TFeedback, TResult>

Properties

actionName

currentGoal

feedbackPublisher

nextGoal

resultPublisher

ros

serverName

statusMessage

OptionalstatusPublisher

Staticprefixed

Methods

addListener

Type Parameters

Parameters

Returns this

emit

Type Parameters

Parameters

Returns boolean

eventNames

Returns ("cancel" | "goal")[]

listenerCount

Parameters

Returns number

listeners

Type Parameters

Parameters

Returns ( ( ...args: ArgumentMap<{ cancel: undefined; goal: [TGoal] }>[Extract< T, "cancel" | "goal", >], ) => void)[]

off

Type Parameters

Parameters

Returns this

on

Type Parameters

Parameters

Returns this

once

Type Parameters

Parameters

Returns this

removeAllListeners

Parameters

Returns this

removeListener

Type Parameters

Parameters

Returns this

sendFeedback

Parameters

Returns void

setAborted

Parameters

Returns void

setPreempted

Returns void

setSucceeded

Parameters

Returns void

Settings

On This Page

`Optional`statusPublisher

`Static`prefixed

Returns (
(
...args: ArgumentMap<{ cancel: undefined; goal: [TGoal] }>[Extract<
T,
"cancel"
| "goal",
>],
) => void
)[]