suave.action_server_utils

Shared helpers for lifecycle-node action servers.

Functions

accept_cancel(goal_handle)	Accept action cancellation.
lifecycle_state_is_active(node)	Return True when the lifecycle node is in the active state.
make_goal_callback(node)	Return a goal callback gated by lifecycle state and action mode.
use_action_server(node)	Return the use_action_server parameter value.
wait_for_action_completion(node)	Wait until the node's active action execute callback finishes.
when_lifecycle_active(func)	Decorate a method to run only when its lifecycle node is active.