Struct RawActionClientSpec 

pub struct RawActionClientSpec<'a> {
    pub node_id: Option<NodeId>,
    pub action_name: &'a str,
    pub type_name: &'a str,
    pub type_hash: &'a str,
    pub goal_response_callback: Option<unsafe extern "C" fn(*const GoalId, bool, *mut c_void)>,
    pub feedback_callback: Option<unsafe extern "C" fn(*const GoalId, *const u8, usize, *mut c_void)>,
    pub result_callback: Option<unsafe extern "C" fn(*const GoalId, GoalStatus, *const u8, usize, *mut c_void)>,
    pub context: *mut c_void,
}

Inputs for raw (untyped) action-client registration.

Collapses the runtime arguments shared by the register_action_client_raw* family. Buffer sizes stay as const-generic turbofish parameters on the registration methods.

Fields

node_id: Option<NodeId>

None registers on the executor’s own node; Some(id) routes the client’s 4 underlying handles (send_goal / cancel_goal / get_result service clients + feedback subscriber) through the named Node’s session.

action_name: &'a str

type_name: &'a str

type_hash: &'a str

goal_response_callback: Option<unsafe extern "C" fn(*const GoalId, bool, *mut c_void)>

feedback_callback: Option<unsafe extern "C" fn(*const GoalId, *const u8, usize, *mut c_void)>

result_callback: Option<unsafe extern "C" fn(*const GoalId, GoalStatus, *const u8, usize, *mut c_void)>

context: *mut c_void