ROS Action Client/Server

Within a rqt Plugin GenericDomainModel, a ROS Action Client or Server is represented by a GenericDomainModelPort with the following Attributes.

Attributes	Value	Description
Type	action
Attribute 0	[default action name]	Default ROS Action name
Attribute 1
Attribute 2	[msg type]	ROS Action Type - e.g. Trajectory
Attribute 7	ros

If the CyPhy Master Interpreter is run, these Attributes will be used to populate the parent rqt Plugin Model’s connected template file Resource.

For each netlist of connected ports, the Interpreter will check that the the port types all match (e.g. a ROS Topic Publisher cannot broadcast to a ROS Service Server) and that the Action Msg types (if specified) all match.

If the port is connected to other ports, a unique ROS Action name will be generated and assigned to ports in that netlist.

Otherwise, Attribute 0’s Value will be used.

The ROS Action Client or ROS Action Server Port’s name is used as a key to populate the rqt Plugin Model’s connected template file Resource with the ROS Action name.