ActionLibServer<G extends RosMessage<G>, AG extends RosActionGoal<G, AG>, F extends RosMessage<F>, AF extends RosActionFeedback<F, AF>, R extends RosMessage<R>, AR extends RosActionResult<R, AR>, A extends RosActionMessage<G, AG, F, AF, R, AR>> constructor
ActionLibServer<G extends RosMessage<G>, AG extends RosActionGoal<G, AG>, F extends RosMessage<F>, AF extends RosActionFeedback<F, AF>, R extends RosMessage<R>, AR extends RosActionResult<R, AR>, A extends RosActionMessage<G, AG, F, AF, R, AR>>(- String actionServer,
- NodeHandle node,
- A actionClass
)
Implementation
ActionLibServer(this.actionServer, this.node, this.actionClass) {
_goalSub = node.subscribe(
'$actionServer/goal', actionClass.actionGoal, handleGoal,
queueSize: 50);
_cancelSub = node.subscribe(
'$actionServer/cancel', actionlib_msgs.GoalID, handleCancel,
queueSize: 50);
_statusPub = node.advertise(
'$actionServer/status', actionlib_msgs.GoalStatusArray,
queueSize: 50);
_feedbackPub = node.advertise(
'$actionServer/feedback', actionClass.actionFeedback,
queueSize: 50);
_resultPub = node.advertise(
'$actionServer/result', actionClass.actionResult,
queueSize: 50);
}