rosactionlib学习

# Define the goal
uint32 dishwasher_id  # Specify which dishwasher we want to use
---
# Define the result
uint32 total_dishes_cleaned
---
# Define a feedback message
float32 percent_complete

catkin_create_pkg actionlib_test roscpp std_msgs actionlib actionlib_msgs message_generation rospy

#find_package(catkin REQUIRED genmsg actionlib_msgs actionlib)
add_action_files(DIRECTORY action FILES DoDishes.action)
generate_messages(DEPENDENCIES actionlib_msgs)

<build_depend>actionlib</build_depend>
<build_depend>actionlib_msgs</build_depend>
<run_depend>actionlib</run_depend>
<run_depend>actionlib_msgs</run_depend>

#include <actionlib_test/DoDishesAction.h> 
#include <actionlib/client/simple_action_client.h>

typedef actionlib::SimpleActionClient<actionlib_test::DoDishesAction> Client;

int main(int argc, char** argv)
{
  ros::init(argc, argv, "do_dishes_client");

  Client client("do_dishes", true); // true -> don't need ros::spin()
  client.waitForServer(); // Waits for the ActionServer to connect to this client
  actionlib_test::DoDishesGoal goal;
  // Fill in goal here
  client.sendGoal(goal); // Sends a goal to the ActionServer
  client.waitForResult(ros::Duration(5.0)); // Blocks until this goal finishes
  if (client.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
    printf("Yay! The dishes are now clean\n");
  printf("Current State: %s\n", client.getState().toString().c_str());
  return 0;
}

#include <actionlib_test/DoDishesAction.h> 
#include <actionlib/server/simple_action_server.h>

typedef actionlib::SimpleActionServer<actionlib_test::DoDishesAction> Server;

void execute(const actionlib_test::DoDishesGoalConstPtr& goal, Server* as) 
{
  // Do lots of awesome groundbreaking robot stuff here
  as->setSucceeded();
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "do_dishes_server");
  ros::NodeHandle n;
  Server server(n, "do_dishes", boost::bind(&execute, _1, &server), false);
  server.start();
  ros::spin();
  return 0;
}

add_executable(client   src/client.cpp)
add_executable(server   src/server.cpp)
target_link_libraries( client ${catkin_LIBRARIES})
target_link_libraries( server ${catkin_LIBRARIES})

#! /usr/bin/env python

import roslib
roslib.load_manifest('actionlib_test')
import rospy
import actionlib

from actionlib_test.msg import DoDishesAction, DoDishesGoal

if __name__ == '__main__':
    rospy.init_node('do_dishes_client')
    client = actionlib.SimpleActionClient('do_dishes', DoDishesAction)
    client.wait_for_server()

    goal = DoDishesGoal()
    # Fill in the goal here
    client.send_goal(goal)
    client.wait_for_result(rospy.Duration.from_sec(5.0))

#! /usr/bin/env python

import roslib
roslib.load_manifest('actionlib_test')
import rospy
import actionlib

from actionlib_test.msg import DoDishesAction

class DoDishesServer:
  def __init__(self):
    self.server = actionlib.SimpleActionServer('do_dishes', DoDishesAction, self.execute, False)
    self.server.start()

  def execute(self, goal):
    # Do lots of awesome groundbreaking robot stuff here
    self.server.set_succeeded()


if __name__ == '__main__':
  rospy.init_node('do_dishes_server')
  server = DoDishesServer()
  rospy.spin()