ROS action通信

最新推荐文章于 2023-10-02 23:11:46 发布

chenotic

最新推荐文章于 2023-10-02 23:11:46 发布

阅读量128

点赞数

分类专栏： ROS学习文章标签： ubuntu c++

本文链接：https://blog.csdn.net/chenotic/article/details/129390815

版权

ROS学习专栏收录该内容

1 篇文章 0 订阅

订阅专栏

action通信类似与服务通信，但于其不同的是在请求和响应中action通信可以实现实时且连续的反馈。

1.创建工作空间并编译

mkdir action_ws
cd action_ws
mkdir src
catkin_make

2.在src目录下新建功能包test，添加依赖roscpp rospy std_msgs actionlib actionlib_msgs

3.在功能包src目录下新建文件夹action，在其下新建文件AddInts.action并添加内容

#客户端输入目标值
int32 num
---
#服务端反馈结果
int32 result
---
#连续反馈进度值
float64 progress_bar

4.配置CMakeLists.txt文件

add_action_files(
  FILES
  AddInts.action
)

generate_messages(
  DEPENDENCIES
  actionlib_msgs
)

catkin_package(
 CATKIN_DEPENDS actionlib actionlib_msgs roscpp rospy std_msgs
)

tips.此时可编译检验是否报错

5.配置c_cpp_properties.json文件，在includePath添加路径/xxx/yyy工作空间/devel/include/**

示例：

{
  "configurations": [
    {
      "browse": {
        "databaseFilename": "${default}",
        "limitSymbolsToIncludedHeaders": false
      },
      "includePath": [
        "/opt/ros/noetic/include/**",   
        //具体代码根据每个人计算机名称和功能包名称不同有所改变
      "/home/sikero/action_ws/devel/include/**", 
        "/usr/include/**"
      ],
      "name": "ROS",
      "intelliSenseMode": "gcc-x64",
      "compilerPath": "/usr/bin/gcc",
      "cStandard": "gnu11",
      "cppStandard": "c++14"
    }
  ],
  "version": 4
}

6.在功能包src目录下新建服务端文件action_serve.cpp并配置CMakeLists.txt文件

#include "ros/ros.h"
#include "actionlib/server/simple_action_server.h"
#include "action_ws/AddIntsAction.h"

typedef actionlib::SimpleActionServer<action_ws::AddIntsAction> Server;

void cb(const action_ws::AddIntsGoalConstPtr &goal,Server* server){
    //获取目标值
    int num = goal->num;
    ROS_INFO("目标值:%d",num);
    //累加并响应连续反馈
    int result = 0;
    action_ws::AddIntsFeedback feedback;//连续反馈
    ros::Rate rate(10);//通过频率设置休眠时间
    for (int i = 1; i <= num; i++)
    {
        result += i;
        //组织连续数据并发布
        feedback.progress_bar = i / (double)num;
        server->publishFeedback(feedback);
        rate.sleep();
    }
    //设置最终结果
    action_ws::AddIntsResult r;
    r.result = result;
    server->setSucceeded(r);
    ROS_INFO("最终结果:%d",r.result);
}

int main(int argc, char *argv[])
{
    setlocale(LC_ALL,"");
    ROS_INFO("action服务端实现");
    // 2.初始化ROS节点;
    ros::init(argc,argv,"AddInts_server");
    // 3.创建NodeHandle;
    ros::NodeHandle nh;
    // 4.创建action服务对象;
    /*SimpleActionServer(ros::NodeHandle n, 
                        std::string name, 
                        boost::function<void (const action_ws::AddIntsGoalConstPtr &)> execute_callback, 
                        bool auto_start)
    */
    // actionlib::SimpleActionServer<action_ws::AddIntsAction> server(....);
    Server server(nh,"addInts",boost::bind(&cb,_1,&server),false);
    server.start();
    // 5.处理请求,产生反馈与响应;

    // 6.spin().   
    ros::spin();
    return 0;
}

配置CMakeLists.txt文件

add_executable(action_server src/action_server.cpp)

add_dependencies(action_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

target_link_libraries(action_server
  ${catkin_LIBRARIES}
)

//注意，此段代码必须添加在前文的catkin_package()之后，否则会报错

7.在功能包src目录下新建客户端文件action_client.cpp并配置CMakeLists.txt文件

#include "ros/ros.h"
#include "actionlib/client/simple_action_client.h"
#include "action_ws/AddIntsAction.h"

typedef actionlib::SimpleActionClient<action_ws::AddIntsAction> Client;

//处理最终结果
void done_cb(const actionlib::SimpleClientGoalState &state, const action_ws::AddIntsResultConstPtr &result){
    if (state.state_ == state.SUCCEEDED)
    {
        ROS_INFO("最终结果:%d",result->result);
    } else {
        ROS_INFO("任务失败！");
    }
}
//服务已经激活
void active_cb(){
    ROS_INFO("服务已经被激活....");
}
//处理连续反馈
void  feedback_cb(const action_ws::AddIntsFeedbackConstPtr &feedback){
    ROS_INFO("当前进度:%.2f",feedback->progress_bar);
}


int main(int argc, char *argv[])
{
    setlocale(LC_ALL,"");
    // 2.初始化ROS节点;
    ros::init(argc,argv,"AddInts_client");
    // 3.创建NodeHandle;
    ros::NodeHandle nh;
    // 4.创建action客户端对象;
    // SimpleActionClient(ros::NodeHandle & n, const std::string & name, bool spin_thread = true)
    // actionlib::SimpleActionClient<action_ws::AddIntsAction> client(nh,"addInts");
    Client client(nh,"addInts",true);
    //等待服务启动
    client.waitForServer();
    // 5.发送目标，处理反馈以及最终结果;
    /*  
        void sendGoal(const action_ws::AddIntsGoal &goal, 
            boost::function<void (const actionlib::SimpleClientGoalState &state, const action_ws::AddIntsResultConstPtr &result)> done_cb, 
            boost::function<void ()> active_cb, 
            boost::function<void (const action_ws::AddIntsFeedbackConstPtr &feedback)> feedback_cb)

    */
    action_ws::AddIntsGoal goal;
    goal.num = 10;

    client.sendGoal(goal,&done_cb,&active_cb,&feedback_cb);
    // 6.spin().
    ros::spin();
    return 0;
}

配置CMakeLists.txt文件

add_executable(action_client src/action_client.cpp)

add_dependencies(action_client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

target_link_libraries(action_client
  ${catkin_LIBRARIES}
)

//注意，此段代码必须添加在前文的catkin_package()之后，否则会报错

8.在工作空间下编译一次，启动roscore，新开两个终端source后使用rosrun分别启动服务端和客户端文件，即可看到服务端接收到客户端传过来数据10，由服务端计算其累加结果并显示进度。