# {py:mod}`ros_sugar.actions`

```{py:module} ros_sugar.actions
```

```{autodoc2-docstring} ros_sugar.actions
:allowtitles:
```

## Module Contents

### Functions

````{list-table}
:class: autosummary longtable
:align: left

* - {py:obj}`send_srv_request <ros_sugar.actions.send_srv_request>`
  - ```{autodoc2-docstring} ros_sugar.actions.send_srv_request
    :summary:
    ```
* - {py:obj}`trigger_service <ros_sugar.actions.trigger_service>`
  - ```{autodoc2-docstring} ros_sugar.actions.trigger_service
    :summary:
    ```
* - {py:obj}`send_component_service_request <ros_sugar.actions.send_component_service_request>`
  - ```{autodoc2-docstring} ros_sugar.actions.send_component_service_request
    :summary:
    ```
* - {py:obj}`trigger_component_service <ros_sugar.actions.trigger_component_service>`
  - ```{autodoc2-docstring} ros_sugar.actions.trigger_component_service
    :summary:
    ```
* - {py:obj}`send_action_goal <ros_sugar.actions.send_action_goal>`
  - ```{autodoc2-docstring} ros_sugar.actions.send_action_goal
    :summary:
    ```
* - {py:obj}`trigger_action_server <ros_sugar.actions.trigger_action_server>`
  - ```{autodoc2-docstring} ros_sugar.actions.trigger_action_server
    :summary:
    ```
* - {py:obj}`send_component_action_server_goal <ros_sugar.actions.send_component_action_server_goal>`
  - ```{autodoc2-docstring} ros_sugar.actions.send_component_action_server_goal
    :summary:
    ```
* - {py:obj}`trigger_component_action_server <ros_sugar.actions.trigger_component_action_server>`
  - ```{autodoc2-docstring} ros_sugar.actions.trigger_component_action_server
    :summary:
    ```
* - {py:obj}`publish_message <ros_sugar.actions.publish_message>`
  - ```{autodoc2-docstring} ros_sugar.actions.publish_message
    :summary:
    ```
* - {py:obj}`start <ros_sugar.actions.start>`
  - ```{autodoc2-docstring} ros_sugar.actions.start
    :summary:
    ```
* - {py:obj}`stop <ros_sugar.actions.stop>`
  - ```{autodoc2-docstring} ros_sugar.actions.stop
    :summary:
    ```
* - {py:obj}`restart <ros_sugar.actions.restart>`
  - ```{autodoc2-docstring} ros_sugar.actions.restart
    :summary:
    ```
* - {py:obj}`reconfigure <ros_sugar.actions.reconfigure>`
  - ```{autodoc2-docstring} ros_sugar.actions.reconfigure
    :summary:
    ```
* - {py:obj}`update_parameter <ros_sugar.actions.update_parameter>`
  - ```{autodoc2-docstring} ros_sugar.actions.update_parameter
    :summary:
    ```
* - {py:obj}`update_parameters <ros_sugar.actions.update_parameters>`
  - ```{autodoc2-docstring} ros_sugar.actions.update_parameters
    :summary:
    ```
* - {py:obj}`log <ros_sugar.actions.log>`
  - ```{autodoc2-docstring} ros_sugar.actions.log
    :summary:
    ```
````

### API

````{py:function} send_srv_request(*, srv_name: str, srv_type: type, srv_request_msg: typing.Any) -> ros_sugar.core.action.Action
:canonical: ros_sugar.actions.send_srv_request

```{autodoc2-docstring} ros_sugar.actions.send_srv_request
```
````

````{py:function} trigger_service(*, srv_name: str, srv_type: type) -> ros_sugar.core.action.Action
:canonical: ros_sugar.actions.trigger_service

```{autodoc2-docstring} ros_sugar.actions.trigger_service
```
````

````{py:function} send_component_service_request(*, component: ros_sugar.core.component.BaseComponent, srv_request_msg: typing.Any) -> ros_sugar.core.action.Action
:canonical: ros_sugar.actions.send_component_service_request

```{autodoc2-docstring} ros_sugar.actions.send_component_service_request
```
````

````{py:function} trigger_component_service(*, component: ros_sugar.core.component.BaseComponent) -> ros_sugar.core.action.Action
:canonical: ros_sugar.actions.trigger_component_service

```{autodoc2-docstring} ros_sugar.actions.trigger_component_service
```
````

````{py:function} send_action_goal(*, server_name: str, server_type: type, request_msg: typing.Any) -> ros_sugar.core.action.Action
:canonical: ros_sugar.actions.send_action_goal

```{autodoc2-docstring} ros_sugar.actions.send_action_goal
```
````

````{py:function} trigger_action_server(*, server_name: str, server_type: type) -> ros_sugar.core.action.Action
:canonical: ros_sugar.actions.trigger_action_server

```{autodoc2-docstring} ros_sugar.actions.trigger_action_server
```
````

````{py:function} send_component_action_server_goal(*, component: ros_sugar.core.component.BaseComponent, request_msg: typing.Any) -> ros_sugar.core.action.Action
:canonical: ros_sugar.actions.send_component_action_server_goal

```{autodoc2-docstring} ros_sugar.actions.send_component_action_server_goal
```
````

````{py:function} trigger_component_action_server(*, component: ros_sugar.core.component.BaseComponent) -> ros_sugar.core.action.Action
:canonical: ros_sugar.actions.trigger_component_action_server

```{autodoc2-docstring} ros_sugar.actions.trigger_component_action_server
```
````

````{py:function} publish_message(*, topic: ros_sugar.io.topic.Topic, msg: typing.Any, publish_rate: typing.Optional[float] = None, publish_period: typing.Optional[float] = None) -> ros_sugar.core.action.Action
:canonical: ros_sugar.actions.publish_message

```{autodoc2-docstring} ros_sugar.actions.publish_message
```
````

````{py:function} start(*, component: ros_sugar.core.component.BaseComponent) -> ros_sugar.core.action.Action
:canonical: ros_sugar.actions.start

```{autodoc2-docstring} ros_sugar.actions.start
```
````

````{py:function} stop(*, component: ros_sugar.core.component.BaseComponent) -> ros_sugar.core.action.Action
:canonical: ros_sugar.actions.stop

```{autodoc2-docstring} ros_sugar.actions.stop
```
````

````{py:function} restart(*, component: ros_sugar.core.component.BaseComponent, wait_time: typing.Optional[float] = None) -> ros_sugar.core.action.Action
:canonical: ros_sugar.actions.restart

```{autodoc2-docstring} ros_sugar.actions.restart
```
````

````{py:function} reconfigure(*, component: ros_sugar.core.component.BaseComponent, new_config: typing.Union[str, object], keep_alive: bool = False) -> ros_sugar.core.action.Action
:canonical: ros_sugar.actions.reconfigure

```{autodoc2-docstring} ros_sugar.actions.reconfigure
```
````

````{py:function} update_parameter(*, component: ros_sugar.core.component.BaseComponent, param_name: str, new_value: typing.Any, keep_alive: bool = True) -> ros_sugar.core.action.Action
:canonical: ros_sugar.actions.update_parameter

```{autodoc2-docstring} ros_sugar.actions.update_parameter
```
````

````{py:function} update_parameters(*, component: ros_sugar.core.component.BaseComponent, params_names: typing.List[str], new_values: typing.List, keep_alive: bool = True) -> ros_sugar.core.action.Action
:canonical: ros_sugar.actions.update_parameters

```{autodoc2-docstring} ros_sugar.actions.update_parameters
```
````

````{py:function} log(*, msg: str, logger_name: typing.Optional[str] = None) -> ros_sugar.core.action.LogInfo
:canonical: ros_sugar.actions.log

```{autodoc2-docstring} ros_sugar.actions.log
```
````