RosServerGoalHandle¶

The server-side handle for an accepted action goal.

Description¶

RosServerGoalHandle is handed to the execute callback of a RosActionServer for every accepted goal. It carries the goal message and is used to publish feedback and report the outcome.

Every goal must be driven to exactly one terminal state: succeed(), abort() or canceled(). Calling a second terminal method on the same handle is an error.

For long-running goals, spread the work over multiple frames with await and poll is_cancel_requested() so clients can cancel:

func _execute_goal(goal_handle: RosServerGoalHandle):
    var result = goal_handle.create_result()
    for step in range(goal_handle.get_goal().order):
        if goal_handle.is_cancel_requested():
            goal_handle.canceled(result)
            return
        var fb = goal_handle.create_feedback()
        goal_handle.publish_feedback(fb)
        await get_tree().process_frame
    goal_handle.succeed(result)

Methods¶

void	abort(result: RosMsg)
void	canceled(result: RosMsg)
RosMsg	create_feedback()
RosMsg	create_result()
RosMsg	get_goal() const
String	get_goal_id() const
bool	is_active() const
bool	is_cancel_requested() const
void	publish_feedback(feedback: RosMsg)
void	succeed(result: RosMsg)

Method Descriptions¶

void abort(result: RosMsg) 🔗

Terminates the goal as failed, sending result to the client (the client sees RosGoalHandle.STATUS_ABORTED).

void canceled(result: RosMsg) 🔗

Terminates the goal as canceled, sending result to the client (the client sees RosGoalHandle.STATUS_CANCELED). Call this in response to is_cancel_requested() becoming true.

RosMsg create_feedback() 🔗

Creates and returns an empty RosMsg of this action's feedback type, ready to be filled and passed to publish_feedback().

RosMsg create_result() 🔗

Creates and returns an empty RosMsg of this action's result type, ready to be filled and passed to one of the terminal methods.

RosMsg get_goal() const 🔗

Returns the goal message sent by the client.

String get_goal_id() const 🔗

Returns the unique identifier of this goal as a hexadecimal string. Useful for logging when handling several concurrent goals.

bool is_active() const 🔗

Returns true while the goal has not reached a terminal state yet.

bool is_cancel_requested() const 🔗

Returns true once a client has requested this goal to be canceled. Poll it inside long-running execute callbacks and finish with canceled().

void publish_feedback(feedback: RosMsg) 🔗

Publishes a feedback message for this goal. Clients receive it through the RosGoalHandle.feedback signal.

void succeed(result: RosMsg) 🔗

Terminates the goal successfully, sending result to the client (the client sees RosGoalHandle.STATUS_SUCCEEDED).