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Block all Goals between Action Servers

asked 2016-07-27 16:00:06 -0600

aak2166 gravatar image

Hi all,

I am implementing a device with several action servers that will be run in parallel. While they are all different, I want the device to only process a single goal at a time. While one goal is being executed no other action servers should accept and process any goals.

Does actionlib provide a way to handle this? Thanks.

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This is kind of a unique problem. I don't think that something like that is provided by the action lib. You would have to take care of the event handling yourself and all the thread management could get quite tricky...

Chrissi gravatar image Chrissi  ( 2016-07-27 16:09:39 -0600 )edit

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answered 2019-02-27 15:32:39 -0600

tfoote gravatar image

Action servers have the ability to queue goals you. Can choose any mechanism that you want to do that queuing. It sounds like this logic for your application will be quite specific so you will have to create your own action server logic to do that. But it's completely possible with the action design. You just will not be able to use the example action server implementations as they won't implement your custom logic.

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Asked: 2016-07-27 16:00:06 -0600

Seen: 377 times

Last updated: Feb 27 '19