/change_controllers

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/change_controllers Quick Facts

Category

🛠 Robot management

Message type

change_controllers_interfaces/action/Switch

Allows to change controllers with a single call, avoiding resources conflict.

See How to change your robot’s motion controller for details.

Quick snippets

Send a goal from the command-line

$ ros2 action send_goal /change_controllers change_controllers_interfaces/action/Switch # press Tab to complete the message prototype

How to use in your code

PythonC++

Call the action from a Python script

#!/usr/bin/env python

import rclpy
from rclpy.action import ActionClient
from rclpy.node import Node

from change_controllers_interfaces.action import Switch

class ChangeControllersActionClient(Node):

    def __init__(self):
        super().__init__('change_controllers_client')
        self._action_client = ActionClient(self, Switch, '/change_controllers')

    def send_goal(self, a, b):
        goal_msg = Switch.Goal()

        # TODO: adapt to the action's parameters
        # check the change_controllers_interfaces/action/SwitchGoal message
        # definition for the possible goal parameters
        # goal_msg.a = a
        # goal_msg.b = b

        self._action_client.wait_for_server()

        return self._action_client.send_goal_async(goal_msg)

if __name__ == '__main__':
    rclpy.init(args=args)

    action_client = ChangeControllersActionClient()

    # TODO: adapt to your action's parameters
    future = action_client.send_goal(a, b)

    rclpy.spin_until_future_complete(action_client, future)

    rclpy.shutdown()