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Call an action from an action

asked 2021-05-18 11:55:20 -0600

Latout92 gravatar image


Is it possible to call an action from an action ?

I want to send from an action the position of a goal and use /navigatetopose (Nav2) directly from my action code (by not using ros2 action send_goal ...).

Than you guys I'm a begginer in ROS2 !

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answered 2021-05-18 19:40:29 -0600

shonigmann gravatar image

I don't know of any reason why it wouldn't be possible - you could setup your custom action server to create an action client instance in its callback function, and use that action client to send a goal to the nav2 server. You could presumably also pass the feedback from the nav2 /navigatetopose action server back to your own client so that it doesn't get lost in the process. Read through the ros2 actions tutorial carefully, and feel free to update this question if you run into issues on the implementation.

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First, Thank you for your answer.

Do you know how I can send a goal to the nav2 server from my custom action ? Or any tips/clue ? I see nothing on the web :/

Latout92 gravatar image Latout92  ( 2021-05-19 05:01:12 -0600 )edit

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Asked: 2021-05-18 11:55:20 -0600

Seen: 139 times

Last updated: May 18 '21