RosGoalHandle¶

A handle that tracks the lifecycle of a goal sent through a RosActionClient.

Description¶

RosGoalHandle is returned by RosActionClient.send_goal() and behaves like a promise: you can poll it with is_completed() and get_result(), or connect to (and await) its signals.

All signals are emitted on the Godot main thread, so it is always safe to touch the scene tree from their handlers.

The typical lifecycle is: accepted (or rejected) → zero or more feedback emissions → completed with the final result and status.

Note: If the goal is rejected by the server, completed is still emitted (with a null result and STATUS_UNKNOWN) so that await handle.completed never hangs.

Methods¶

void	cancel()
RosMsg	get_result() const
int	get_status() const
bool	is_accepted() const
bool	is_completed() const

Signals¶

accepted() 🔗

Emitted when the server accepts the goal and starts executing it.

completed(result: RosMsg, status: int) 🔗

Emitted when the goal reaches a terminal state. result holds the action result message (null if the goal was rejected) and status is one of the Status constants.

feedback(msg: RosMsg) 🔗

Emitted every time the server publishes feedback for this goal.

rejected() 🔗

Emitted when the server rejects the goal. completed follows immediately with a null result.

Enumerations¶

enum Status: 🔗

Status STATUS_UNKNOWN = 0

The goal has no terminal status yet (still executing), or it was rejected by the server.

Status STATUS_SUCCEEDED = 4

The goal finished successfully. Matches action_msgs/GoalStatus.STATUS_SUCCEEDED.

Status STATUS_ABORTED = 5

The server aborted the goal. Matches action_msgs/GoalStatus.STATUS_ABORTED.

Status STATUS_CANCELED = 6

The goal was canceled after a cancel request. Matches action_msgs/GoalStatus.STATUS_CANCELED.

Method Descriptions¶

void cancel() 🔗

Asks the server to cancel this goal. Cancellation is cooperative: the server decides when (and whether) to stop. The outcome still arrives through completed, with STATUS_CANCELED if the cancellation was honored.

RosMsg get_result() const 🔗

Returns the result message once the goal has completed, or null before completion (and for rejected goals).

int get_status() const 🔗

Returns the terminal status of the goal as one of the Status constants. Before completion this is STATUS_UNKNOWN.

bool is_accepted() const 🔗

Returns true once the server has accepted the goal.

bool is_completed() const 🔗

Returns true once the goal has reached a terminal state and the result is available through get_result().