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experimental: add getStatusTopic method to retrieve action status #1146

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experimental: add getStatusTopic method to retrieve action status #1146

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14 changes: 14 additions & 0 deletions packages/roslib/src/core/Action.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
* @author Sebastian Castro - sebastian.castro@picknik.ai
*/

import { actionlib_msgs } from "../types/actionlib_msgs.ts";
import { GoalStatus } from "./GoalStatus.ts";
import type { RosbridgeSendActionGoalMessage } from "../types/protocol.ts";
import {
Expand All @@ -13,6 +14,8 @@ import {
} from "../types/protocol.ts";
import type Ros from "./Ros.ts";
import { v4 as uuidv4 } from "uuid";
import Topic from "./Topic.ts";
import GoalStatusArray = actionlib_msgs.GoalStatusArray;

class GoalError extends Error {
override name = "GoalError";
Expand Down Expand Up @@ -292,4 +295,15 @@ export default class Action<
result: false,
});
}

/**
* Returns the status topic for this action.
*/
getStatusTopic() {
return new Topic<GoalStatusArray>({
ros: this.ros,
name: `${this.name}/_action/status`,
messageType: "action_msgs/msg/GoalStatusArray",
});
}
}