Add intra_process_action_server_is_available to IPC Client

irobot-ros · Aug 6, 2024 · a2bfddf · a2bfddf
1 parent 4ddaaca
commit a2bfddf
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/rclcpp_action/include/rclcpp_action/client.hpp b/rclcpp_action/include/rclcpp_action/client.hpp
@@ -97,6 +97,16 @@ class ClientBase : public rclcpp::Waitable
  );
  }
 
+ /// Return true if there is an intra-process action server that is ready to take goal requests.
+ bool
+ intra_process_action_server_is_available()
+ {
+ if (auto ipm = weak_ipm_.lock()) {
+ return ipm->action_server_is_available(ipc_action_client_id_);
+ }
+ return false;
+ }
+
  // -------------
  // Waitables API