ROS-I学习笔记（4）-Action(2.Client)

最新推荐文章于 2023-04-10 16:51:07 发布

D124lab

最新推荐文章于 2023-04-10 16:51:07 发布

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本文链接：https://blog.csdn.net/D124lab/article/details/121907563

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1.代码：先创建一个 actionlib_tutorials/src/fibonacci_client.cpp文件，然后基于下面修改：

#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <actionlib_tutorials/FibonacciAction.h>

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

  // create the action client
  // true causes the client to spin its own thread
  actionlib::SimpleActionClient<actionlib_tutorials::FibonacciAction> ac("fibonacci", true);

  ROS_INFO("Waiting for action server to start.");
  // wait for the action server to start
  ac.waitForServer(); //will wait for infinite time

  ROS_INFO("Action server started, sending goal.");
  // send a goal to the action
  actionlib_tutorials::FibonacciGoal goal;
  goal.order = 20;
  ac.sendGoal(goal);

  //wait for the action to return
  bool finished_before_timeout = a