MoveTo action server
Expose named, relative and Cartesian motion through MoveToAction.
beambot.action_servers.move_to_server · Source
Motion planning · Guide · Symbol index
How it is used
Use this endpoint for individual arm moves: named joint poses or SRDF states, relative moves, and Cartesian targets. The orchestrator and survey runner send MoveToAction goals to beambot_moveto; MoveToStages validates the target and selects planning stages.
main() starts the server. The small create_stages() override is also the simplest example of extending BaseActionServer.
Start here
Callable |
Purpose |
|---|---|
Run MoveToActionServer through the shared multithreaded ROS server runner. |
|
Bind MoveToStages to this action-server node. |
Functions
main()
Run MoveToActionServer through the shared multithreaded ROS server runner.
Entry point · Source
main(args=None)
Parameter |
Meaning |
|---|---|
|
Optional ROS initialization arguments; None uses normal rclpy argument handling. |
Returns: None when the server exits.
Errors: KeyboardInterrupt during spin is handled by run_server; initialization/construction and other executor errors propagate.
Side effects: Initializes ROS, constructs the action node, spins until shutdown and destroys the node/context.
MoveToActionServer
Concrete BaseActionServer that connects MoveToAction requests to MoveToStages. The shared base manages admission and results; the stages own planning and execution.
Inherits from: BaseActionServer.
MoveToActionServer.create_stages()
Bind MoveToStages to this action-server node.
Extension hook · Source
create_stages(self)
Returns: New MoveToStages instance.
Errors: Stage initialization errors propagate.
Side effects: Initializes stage resources and TF subscriptions.
MoveToActionServer.__init__()
Configure the shared action base as node beambot_moveto_server serving beambot_moveto.
Lifecycle · Source
__init__(self)
Errors: Stage/node/action initialization errors propagate.
Side effects: Constructs the ROS action endpoint and operation stages; logs startup.