ros入门(六）actionlib学习笔记

catkin_create_pkg actionlib_bing 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_bing/DoDishesAction.h>
#include <actionlib/server/simple_action_server.h>
typedef actionlib::SimpleActionServer<actionlib_bing::DoDishesAction> Server;

void execute(const actionlib_bing::DoDishesGoalConstPtr& goal, Server* as)
{
  // Do lots of awesome groundbreaking robot stuff here
  ros::Duration(2).sleep();
  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;
}

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


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

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

  Client client("do_dishes", true); // true -> don't need ros::spin()
  client.waitForServer(); // Waits for the ActionServer to connect to this client
  actionlib_bing::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
  ros::Rate loop_rate(1);
  while (ros::ok()){
    // if (client.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
    //   printf("Yay! The dishes are now clean\n");
    printf("Current State: %s\n", client.getState().toString().c_str());
    loop_rate.sleep();
  }

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

#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <move_base_msgs/MoveBaseGoal.h>
#include <geometry_msgs/PoseStamped.h>

typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> Client;
int main(int argc, char** argv)
{
  ros::init(argc, argv, "move_base_actionlib_bing");

  Client client("move_base", true); // true -> don't need ros::spin()
  client.waitForServer(); // Waits for the ActionServer to connect to this client
  // Fill in goal here (0.813, 2.349, 0.000)
  printf("Server connected. \r\n");
  move_base_msgs::MoveBaseGoal action_goal;
  action_goal.target_pose.header.stamp = ros::Time::now();
  action_goal.target_pose.header.frame_id = "map";

  action_goal.target_pose.pose.position.x =0.813;
  action_goal.target_pose.pose.position.y =2.349;
  action_goal.target_pose.pose.position.z =0;

  action_goal.target_pose.pose.orientation.x =0;
  action_goal.target_pose.pose.orientation.y =0;
  action_goal.target_pose.pose.orientation.z =0;
  action_goal.target_pose.pose.orientation.w =1;

  client.sendGoal(action_goal); // Sends a goal to the ActionServer
  client.waitForResult(ros::Duration(05.0)); // Blocks until this goal finishes
  ros::Rate loop_rate(1);
  while (ros::ok()){
    printf("Current State: %s\n", client.getState().toString().c_str());
    loop_rate.sleep();
  }
  return 0;
}