Add documentation to rclcpp_action

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

rclcpp_action/include/rclcpp_action/client.hpp

@@ -245,7 +245,7 @@ private:
 /**
  * This class creates an action client.
  *
- * Create an instance of this server using `rclcpp_action::create_client()`.
+ * To create an instance of an action client use `rclcpp_action::create_client()`.
  *
  * Internally, this class is responsible for:
  *  - coverting between the C++ action type and generic types for `rclcpp_action::ClientBase`, and
@@ -265,6 +265,18 @@ public:
   using CancelRequest = typename ActionT::Impl::CancelGoalService::Request;
   using CancelResponse = typename ActionT::Impl::CancelGoalService::Response;
 
+  /// Construct an action client.
+  /**
+   * This constructs an action client, but it will not work until it has been added to a node.
+   * Use `rclcpp_action::create_client()` to both construct and add to a node.
+   *
+   * \param[in] node_base A pointer to the base interface of a node.
+   * \param[in] node_graph A pointer to an interface that allows getting graph information about
+   *   a node.
+   * \param[in] node_logging A pointer to an interface that allows getting a node's logger.
+   * \param[in] action_name The action name.
+   * \param[in] client_options Options to pass to the underlying `rcl_action::rcl_action_client_t`.
+   */
   Client(
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
     rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
@@ -279,6 +291,20 @@ public:
   {
   }
 
+  /// Send an action goal and asynchronously get the result.
+  /**
+   * If the goal is accepted by an action server, the returned future is set to a `ClientGoalHandle`.
+   * If the goal is rejected by an action server, then the future is set to a `nullptr`.
+   *
+   * The goal handle is used to monitor the status of the goal and get the final result.
+   *
+   * \param[in] goal The goal request.
+   * \param[in] callback Optional user callback for feedback associated with the goal.
+   * \param[in] ignore_result If `true`, then the result for the goal will not be requested and
+   *   therefore inaccessible from the goal handle.
+   * \return A future that completes when the goal has been accepted or rejected.
+   *   If the goal is rejected, then the result will be a `nullptr`.
+   */
   std::shared_future<typename GoalHandle::SharedPtr>
   async_send_goal(
     const Goal & goal, FeedbackCallback callback = nullptr, bool ignore_result = false)
@@ -321,6 +347,13 @@ public:
     return future;
   }
 
+  /// Asynchronously get the result for an active goal.
+  /**
+   * \throws exceptions::UnknownGoalHandleError If the goal unknown or already reached a terminal
+   *   state.
+   * \param[in] goal_handle The goal handle for which to get the result.
+   * \return A future that is set to the goal result when the goal is finished.
+   */
   std::shared_future<WrappedResult>
   async_get_result(typename GoalHandle::SharedPtr goal_handle)
   {
@@ -335,6 +368,13 @@ public:
     return goal_handle->async_result();
   }
 
+  /// Asynchronously request a goal be canceled.
+  /**
+   * \throws exceptions::UnknownGoalHandleError If the goal is unknown or already reached a
+   *   terminal state.
+   * \param[in] goal_handle The goal handle requesting to be canceled.
+   * \return A future whose result indicates whether or not the cancel request was accepted.
+   */
   std::shared_future<bool>
   async_cancel_goal(typename GoalHandle::SharedPtr goal_handle)
   {
@@ -364,6 +404,14 @@ public:
     return future;
   }
 
+  /// Asynchronously request for all goals to be canceled.
+  /**
+   * \return A future to a CancelResponse message that is set when the request has been
+   * acknowledged by an action server.
+   * See
+   * <a href="https://github.com/ros2/rcl_interfaces/blob/master/action_msgs/srv/CancelGoal.srv">
+   * action_msgs/CancelGoal.srv</a>.
+   */
   std::shared_future<typename CancelResponse::SharedPtr>
   async_cancel_all_goals()
   {
@@ -375,6 +423,15 @@ public:
     return async_cancel(cancel_request);
   }
 
+  /// Asynchronously request all goals at or before a specified time be canceled.
+  /**
+   * \param[in] stamp The timestamp for the cancel goal request.
+   * \return A future to a CancelResponse message that is set when the request has been
+   * acknowledged by an action server.
+   * See
+   * <a href="https://github.com/ros2/rcl_interfaces/blob/master/action_msgs/srv/CancelGoal.srv">
+   * action_msgs/CancelGoal.srv</a>.
+   */
   std::shared_future<typename CancelResponse::SharedPtr>
   async_cancel_goals_before(const rclcpp::Time & stamp)
   {

rclcpp_action/include/rclcpp_action/client_goal_handle.hpp

@@ -45,6 +45,15 @@ enum class ResultCode : int8_t
 template<typename ActionT>
 class Client;
 
+/// Class for interacting with goals sent from action clients.
+/**
+ * Use this class to check the status of a goal as well as get the result.
+ *
+ * This class is not meant to be created by a user, instead it is created when a goal has been
+ * accepted.
+ * A `Client` will create an instance and return it to the user (via a future) after calling
+ * `Client::async_send_goal`.
+ */
 template<typename ActionT>
 class ClientGoalHandle
 {
@@ -70,21 +79,36 @@ public:
 
   virtual ~ClientGoalHandle();
 
+  /// Get the unique ID for the goal.
   const GoalUUID &
   get_goal_id() const;
 
+  /// Get the time when the goal was accepted.
   rclcpp::Time
   get_goal_stamp() const;
 
+  /// Get a future to the goal result.
+  /**
+   * This method should not be called if the `ignore_result` flag was set when
+   * sending the original goal request (see Client::async_send_goal).
+   *
+   * `is_result_aware()` can be used to check if it is safe to call this method.
+   *
+   * \throws exceptions::UnawareGoalHandleError If the the goal handle is unaware of the result.
+   * \return A future to the result.
+   */
   std::shared_future<WrappedResult>
   async_result();
 
+  /// Get the goal status code.
   int8_t
   get_status();
 
+  /// Check if an action client has subscribed to feedback for the goal.
   bool
   is_feedback_aware();
 
+  /// Check if an action client has requested the result for the goal.
   bool
   is_result_aware();
 

rclcpp_action/include/rclcpp_action/create_client.hpp

@@ -25,6 +25,13 @@
 
 namespace rclcpp_action
 {
+/// Create an action client.
+/**
+ * \param[in] node The action client will be added to this node.
+ * \param[in] name The action name.
+ * \param[in] group The action client will be added to this callback group.
+ *   If `nullptr`, then the action client is added to the default callback group.
+ */
 template<typename ActionT>
 typename Client<ActionT>::SharedPtr
 create_client(

rclcpp_action/include/rclcpp_action/create_server.hpp

@@ -31,6 +31,23 @@
 
 namespace rclcpp_action
 {
+/// Create an action server.
+/**
+ * All provided callback functions must be non-blocking.
+ *
+ * \sa Server::Server() for more information.
+ *
+ * \param node[in] The action server will be added to this node.
+ * \param name[in] The action name.
+ * \param[in] handle_goal A callback that decides if a goal should be accepted or rejected.
+ * \param[in] handle_cancel A callback that decides if a goal should be attempted to be canceled.
+ *  The return from this callback only indicates if the server will try to cancel a goal.
+ *  It does not indicate if the goal was actually canceled.
+ * \param[in] handle_accepted A callback that is called to give the user a handle to the goal.
+ * \param[in] options options to pass to the underlying `rcl_action_server_t`.
+ * \param group[in] The action server will be added to this callback group.
+ *   If `nullptr`, then the action server is added to the default callback group.
+ */
 template<typename ActionT>
 typename Server<ActionT>::SharedPtr
 create_server(

rclcpp_action/include/rclcpp_action/rclcpp_action.hpp

@@ -17,9 +17,14 @@
  * `rclcpp_action` provides the canonical C++ API for interacting with ROS Actions.
  * It consists of these main components:
  *
- * - TODO(jacobperron): Finish docs
  * - Action Client
+ *   - rclcpp_action/client.hpp
+ *   - rclcpp_action/create_client.hpp
+ *   - rclcpp_action/client_goal_handle.hpp
  * - Action Server
+ *   - rclcpp_action/server.hpp
+ *   - rclcpp_action/create_server.hpp
+ *   - rclcpp_action/server_goal_handle.hpp
  */
 
 #ifndef RCLCPP_ACTION__RCLCPP_ACTION_HPP_

rclcpp_action/include/rclcpp_action/server.hpp

@@ -63,7 +63,7 @@ enum class CancelResponse : int8_t
 /// \internal
 /**
  * This class should not be used directly by users writing an action server.
- * Instead users should use `rclcpp_action::Server<>`.
+ * Instead users should use `rclcpp_action::Server`.
  *
  * Internally, this class is responsible for interfacing with the `rcl_action` API.
  */
@@ -288,7 +288,7 @@ public:
    *  - one to accept or reject requests to cancel a goal,
    *  - one to receive a goal handle after a goal has been accepted.
    * All callbacks must be non-blocking.
-   * The result of a goal should be set using methods on `rclcpp_action::ServerGoalHandle<>`.
+   * The result of a goal should be set using methods on `rclcpp_action::ServerGoalHandle`.
    *
    * \param[in] node_base a pointer to the base interface of a node.
    * \param[in] node_clock a pointer to an interface that allows getting a node's clock.

rclcpp_action/include/rclcpp_action/server_goal_handle.hpp

@@ -123,10 +123,10 @@ class Server;
 /// Class to interact with goals on a server.
 /**
  * Use this class to check the status of a goal as well as set the result.
+ *
  * This class is not meant to be created by a user, instead it is created when a goal has been
  * accepted.
- * The class `rclcpp_action::Server<>` will create an instance and give it to the user in their
+ * A `Server` will create an instance and give it to the user in their `handle_accepted` callback.
- * `handle_accepted` callback.
  *
  * Internally, this class is responsible for coverting between the C++ action type and generic
  * types for `rclcpp_action::ServerGoalHandleBase`.
@@ -138,9 +138,10 @@ public:
   /// Send an update about the progress of a goal.
   /**
    * This must only be called when the goal is executing.
-   * If execution of a goal is deferred then `ServerGoalHandle<>::set_executing()` must be called
+   * If execution of a goal is deferred then `ServerGoalHandle::set_executing()` must be called
    * first.
-   * `std::runtime_error` is raised if the goal is in any state besides executing.
+   *
+   * \throws std::runtime_error If the goal is in any state besides executing.
    *
    * \param[in] feedback_msg the message to publish to clients.
    */
@@ -153,13 +154,13 @@ public:
     publish_feedback_(feedback_message);
   }
 
-  // TODO(sloretz) which exception is raised?
   /// Indicate that a goal could not be reached and has been aborted.
   /**
    * Only call this if the goal was executing but cannot be completed.
    * This is a terminal state, no more methods should be called on a goal handle after this is
    * called.
-   * An exception is raised if the goal is in any state besides executing.
+   *
+   * \throws rclcpp::exceptions::RCLError If the goal is in any state besides executing.
    *
    * \param[in] result_msg the final result to send to clients.
    */
@@ -173,12 +174,13 @@ public:
     on_terminal_state_(uuid_, response);
   }
 
-  /// Indicate that a goal has been reached.
+  /// Indicate that a goal has succeeded.
   /**
    * Only call this if the goal is executing and has reached the desired final state.
    * This is a terminal state, no more methods should be called on a goal handle after this is
    * called.
-   * An exception is raised if the goal is in any state besides executing.
+   *
+   * \throws rclcpp::exceptions::RCLError If the goal is in any state besides executing.
    *
    * \param[in] result_msg the final result to send to clients.
    */
@@ -197,7 +199,8 @@ public:
    * Only call this if the goal is executing or pending, but has been canceled.
    * This is a terminal state, no more methods should be called on a goal handle after this is
    * called.
-   * An exception is raised if the goal is in any state besides executing or pending.
+   *
+   * \throws rclcpp::exceptions::RCLError If the goal is in any state besides executing.
    *
    * \param[in] result_msg the final result to send to clients.
    */
@@ -214,7 +217,8 @@ public:
   /// Indicate that the server is starting to execute a goal.
   /**
    * Only call this if the goal is pending.
-   * An exception is raised if the goal is in any state besides pending.
+   *
+   * \throws rclcpp::exceptions::RCLError If the goal is in any state besides executing.
    */
   void
   set_executing()