Action Server node that publishes WrenchStamped messages. More...

#include <wrench_action_server.hpp>

Inheritance diagram for WrenchActionServer:

Collaboration diagram for WrenchActionServer:

Public Types
using	Wrench = wrench_action_sample_msgs::action::Wrench

using	GoalHandleApplyWrench = rclcpp_action::ServerGoalHandle< Wrench >

using	WrenchMsg = geometry_msgs::msg::WrenchStamped

Public Member Functions
	WrenchActionServer (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	Constructor for the WrenchActionServer.

Detailed Description

Action Server node that publishes WrenchStamped messages.

This server accepts an action goal specifying a duration. Upon acceptance, it publishes wrench messages to the "robot_force" topic at 10Hz, linearly increasing the force values based on the iteration count.

Member Typedef Documentation

◆ GoalHandleApplyWrench

using WrenchActionServer::GoalHandleApplyWrench = rclcpp_action::ServerGoalHandle<Wrench>

◆ Wrench

using WrenchActionServer::Wrench = wrench_action_sample_msgs::action::Wrench

◆ WrenchMsg

using WrenchActionServer::WrenchMsg = geometry_msgs::msg::WrenchStamped

Constructor & Destructor Documentation

◆ WrenchActionServer()

WrenchActionServer::WrenchActionServer ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

Constructor for the WrenchActionServer.

Parameters

options Node options for ROS 2 node initialization.

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

src/sample/action/wrench_action_sample/include/wrench_action_sample/wrench_action_server.hpp
src/sample/action/wrench_action_sample/src/wrench_action_server.cpp

Public Types