前言
ROS中动作是一种异步通信方式,客户端发送目标请求给服务端,服务端回复反馈和结果给客户端(这里面也涉及到了主题和服务两种通信方式)。
动动手
创建custom_action_cpp功能包
正如我们在创建包教程中所看到的,我们需要创建一个新的包来容纳我们的C++和支持代码。
创建custom_action_cpp功能包
进入工作空间根路径的src路径(ros2_ws/src)下,执行下面命令创建custom_action_cpp功能包作为动作服务端节点的实现:
$cd ~/ros2_ws/src
$ros2 pkg create --dependencies custom_action_interfaces rclcpp rclcpp_action rclcpp_components --license Apache-2.0 -- custom_action_cpp
添加可视化控制
为了使得功能包能在Windows下编译和运行,我们需要添加一些“可视化控制”(详情...)。将下面内容复制到custom_action_cpp/include/custom_action_cpp/visibility_control.h(新建)中去:
#ifndef CUSTOM_ACTION_CPP__VISIBILITY_CONTROL_H_
#define CUSTOM_ACTION_CPP__VISIBILITY_CONTROL_H_
#ifdef __cplusplus
extern "C"
{
#endif
// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
// https://gcc.gnu.org/wiki/Visibility
#if defined _WIN32 || defined __CYGWIN__
#ifdef __GNUC__
#define CUSTOM_ACTION_CPP_EXPORT __attribute__ ((dllexport))
#define CUSTOM_ACTION_CPP_IMPORT __attribute__ ((dllimport))
#else
#define CUSTOM_ACTION_CPP_EXPORT __declspec(dllexport)
#define CUSTOM_ACTION_CPP_IMPORT __declspec(dllimport)
#endif
#ifdef CUSTOM_ACTION_CPP_BUILDING_DLL
#define CUSTOM_ACTION_CPP_PUBLIC CUSTOM_ACTION_CPP_EXPORT
#else
#define CUSTOM_ACTION_CPP_PUBLIC CUSTOM_ACTION_CPP_IMPORT
#endif
#define CUSTOM_ACTION_CPP_PUBLIC_TYPE CUSTOM_ACTION_CPP_PUBLIC
#define CUSTOM_ACTION_CPP_LOCAL
#else
#define CUSTOM_ACTION_CPP_EXPORT __attribute__ ((visibility("default")))
#define CUSTOM_ACTION_CPP_IMPORT
#if __GNUC__ >= 4
#define CUSTOM_ACTION_CPP_PUBLIC __attribute__ ((visibility("default")))
#define CUSTOM_ACTION_CPP_LOCAL __attribute__ ((visibility("hidden")))
#else
#define CUSTOM_ACTION_CPP_PUBLIC
#define CUSTOM_ACTION_CPP_LOCAL
#endif
#define CUSTOM_ACTION_CPP_PUBLIC_TYPE
#endif
#ifdef __cplusplus
}
#endif
#endif // CUSTOM_ACTION_CPP__VISIBILITY_CONTROL_H_
编写一个动作服务端
编写动作服务端节点
我们在刚刚创建的custom_action_cpp功能包下src里面新建fibonacci_action_server.cpp,下面内容贴上:
#include <functional>
#include <memory>
#include <thread>
#include "custom_action_interfaces/action/fibonacci.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "rclcpp_components/register_node_macro.hpp"
#include "custom_action_cpp/visibility_control.h"
namespace custom_action_cpp
{
class FibonacciActionServer : public rclcpp::Node //FibonacciActionServer类公共继承自rclcpp::Node类
{
public:
using Fibonacci = custom_action_interfaces::action::Fibonacci;
using GoalHandleFibonacci = rclcpp_action::ServerGoalHandle<Fibonacci>;
CUSTOM_ACTION_CPP_PUBLIC
explicit FibonacciActionServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
: Node("fibonacci_action_server", options)//FibonacciActionServer类构造函数(初始化该节点为fibonacci_action_server)
{
using namespace std::placeholders;
//初始化新的动作服务端,模板动作类型为Fibonacci,节点由this指代,动作名称fibonacci
this->action_server_ = rclcpp_action::create_server<Fibonacci>(
this,
"fibonacci",
std::bind(&FibonacciActionServer::handle_goal, this, _1, _2),//动作目标回调函数
std::bind(&FibonacciActionServer::handle_cancel, this, _1), //动作取消回调函数
std::bind(&FibonacciActionServer::handle_accepted, this, _1));//动作接收回调函数
}
private:
rclcpp_action::Server<Fibonacci>::SharedPtr action_server_;
//处理接收目标请求的回调函数实现
rclcpp_action::GoalResponse handle_goal(
const rclcpp_action::GoalUUID & uuid,
std::shared_ptr<const Fibonacci::Goal> goal)
{
RCLCPP_INFO(this->get_logger(), "Received goal request with order %d", goal->order);
(void)uuid;
return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
}
//处理取消目标的回调函数实现
rclcpp_action::CancelResponse handle_cancel(
const std::shared_ptr<GoalHandleFibonacci> goal_handle)
{
RCLCPP_INFO(this->get_logger(), "Received request to cancel goal");
(void)goal_handle;
return rclcpp_action::CancelResponse::ACCEPT;
}
//接受新的目标请求并开始处理
void handle_accepted(const std::shared_ptr<GoalHandleFibonacci> goal_handle)
{
using namespace std::placeholders;
// this needs to return quickly to avoid blocking the executor, so spin up a new thread
//创建一个线程处理
std::thread{std::bind(&FibonacciActionServer::execute, this, _1), goal_handle}.detach();
}
//新线程中处理函数
void execute(const std::shared_ptr<GoalHandleFibonacci> goal_handle)
{
RCLCPP_INFO(this->get_logger(), "Executing goal");
rclcpp::Rate loop_rate(1);
const auto goal = goal_handle->get_goal();
auto feedback = std::make_shared<Fibonacci::Feedback>();
auto & sequence = feedback->partial_sequence;
sequence.push_back(0);
sequence.push_back(1);
auto result = std::make_shared<Fibonacci::Result>();
for (int i = 1; (i < goal->order) && rclcpp::ok(); ++i) {
// Check if there is a cancel request
if (goal_handle->is_canceling()) {
result->sequence = sequence;
goal_handle->canceled(result);
RCLCPP_INFO(this->get_logger(), "Goal canceled");
return;
}
// Update sequence
sequence.push_back(sequence[i] + sequence[i - 1]);
// Publish feedback
goal_handle->publish_feedback(feedback);
RCLCPP_INFO(this->get_logger(), "Publish feedback");
loop_rate.sleep();
}
// Check if goal is done
if (rclcpp::ok()) {
result->sequence = sequence;
goal_handle->succeed(result);
RCLCPP_INFO(this->get_logger(), "Goal succeeded");
}
}
}; // class FibonacciActionServer
} // namespace custom_action_cpp
RCLCPP_COMPONENTS_REGISTER_NODE(custom_action_cpp::FibonacciActionServer)
这个工作线程每秒处理一个斐波那契序列的序列号,为每个步骤发布反馈更新。当它完成处理后,它将goal_handle标记为成功,然后退出。
编译动作服务端节点
编译之前我们还需将下面内容添加到CMakeLists.txt:
add_library(action_server SHARED
src/fibonacci_action_server.cpp)
target_include_directories(action_server PRIVATE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_compile_definitions(action_server
PRIVATE "CUSTOM_ACTION_CPP_BUILDING_DLL")
ament_target_dependencies(action_server
"custom_action_interfaces"
"rclcpp"
"rclcpp_action"
"rclcpp_components")
rclcpp_components_register_node(action_server PLUGIN "custom_action_cpp::FibonacciActionServer" EXECUTABLE fibonacci_action_server)
install(TARGETS
action_server
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)
进入工作空间根路径,我们编译整个工作空间(当然包含了custom_action_server包中的fibonacci_action_server) :
$colcon build
启动服务端节点
新打开一个终端执行服务端节点,这一步可以等客户端节点也完成后再逐一启动不迟。
$source install/setup.bash
$ros2 run custom_action_cpp fibonacci_action_server
编写一个动作客户端
编写动作客户端节点
新建custom_action_cpp/src/fibonacci_action_client.cpp,将下面内容复制进去:
#include <functional>
#include <future>
#include <memory>
#include <string>
#include <sstream>
#include "custom_action_interfaces/action/fibonacci.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "rclcpp_components/register_node_macro.hpp"
namespace custom_action_cpp
{
class FibonacciActionClient : public rclcpp::Node
{
public:
using Fibonacci = custom_action_interfaces::action::Fibonacci;
using GoalHandleFibonacci = rclcpp_action::ClientGoalHandle<Fibonacci>;
explicit FibonacciActionClient(const rclcpp::NodeOptions & options)
: Node("fibonacci_action_client", options)
{
this->client_ptr_ = rclcpp_action::create_client<Fibonacci>(
this,
"fibonacci");
//创建一次性定时器(500ms),时间到了之后及执行sen_goal回调函数
this->timer_ = this->create_wall_timer(
std::chrono::milliseconds(500),
std::bind(&FibonacciActionClient::send_goal, this));
}
//回调实现
void send_goal()
{
using namespace std::placeholders;
this->timer_->cancel();//取消定时器
//找不到服务端就退出
if (!this->client_ptr_->wait_for_action_server()) {
RCLCPP_ERROR(this->get_logger(), "Action server not available after waiting");
rclcpp::shutdown();
}
//新建动作变量,定义目标值为10
auto goal_msg = Fibonacci::Goal();
goal_msg.order = 10;
RCLCPP_INFO(this->get_logger(), "Sending goal");
//设置相关选项(目标回复的回调、反馈回调、结果回调)
auto send_goal_options = rclcpp_action::Client<Fibonacci>::SendGoalOptions();
send_goal_options.goal_response_callback =
std::bind(&FibonacciActionClient::goal_response_callback, this, _1);
send_goal_options.feedback_callback =
std::bind(&FibonacciActionClient::feedback_callback, this, _1, _2);
send_goal_options.result_callback =
std::bind(&FibonacciActionClient::result_callback, this, _1);
//发送目标请求
this->client_ptr_->async_send_goal(goal_msg, send_goal_options);
}
private:
rclcpp_action::Client<Fibonacci>::SharedPtr client_ptr_;
rclcpp::TimerBase::SharedPtr timer_;
//收到服务端回复的回调处理
void goal_response_callback(const GoalHandleFibonacci::SharedPtr & goal_handle)
{
if (!goal_handle) {
RCLCPP_ERROR(this->get_logger(), "Goal was rejected by server");
} else {
RCLCPP_INFO(this->get_logger(), "Goal accepted by server, waiting for result");
}
}
//收到服务端反馈的回调处理
void feedback_callback(
GoalHandleFibonacci::SharedPtr,
const std::shared_ptr<const Fibonacci::Feedback> feedback)
{
std::stringstream ss;
ss << "Next number in sequence received: ";
for (auto number : feedback->partial_sequence) {
ss << number << " ";
}
RCLCPP_INFO(this->get_logger(), ss.str().c_str());
}
//收到服务端结果的回调处理
void result_callback(const GoalHandleFibonacci::WrappedResult & result)
{
switch (result.code) {
case rclcpp_action::ResultCode::SUCCEEDED:
break;
case rclcpp_action::ResultCode::ABORTED:
RCLCPP_ERROR(this->get_logger(), "Goal was aborted");
return;
case rclcpp_action::ResultCode::CANCELED:
RCLCPP_ERROR(this->get_logger(), "Goal was canceled");
return;
default:
RCLCPP_ERROR(this->get_logger(), "Unknown result code");
return;
}
std::stringstream ss;
ss << "Result received: ";
for (auto number : result.result->sequence) {
ss << number << " ";
}
RCLCPP_INFO(this->get_logger(), ss.str().c_str());
rclcpp::shutdown();
}
}; // class FibonacciActionClient
} // namespace custom_action_cpp
RCLCPP_COMPONENTS_REGISTER_NODE(custom_action_cpp::FibonacciActionClient)
编译动作客户端节点
同样地,为了能让上面的代码被成功编译,我们需要修改CMakeLists.txt:
add_library(action_client SHARED
src/fibonacci_action_client.cpp)
target_include_directories(action_client PRIVATE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_compile_definitions(action_client
PRIVATE "CUSTOM_ACTION_CPP_BUILDING_DLL")
ament_target_dependencies(action_client
"custom_action_interfaces"
"rclcpp"
"rclcpp_action"
"rclcpp_components")
rclcpp_components_register_node(action_client PLUGIN "custom_action_cpp::FibonacciActionClient" EXECUTABLE fibonacci_action_client)
install(TARGETS
action_client
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)
包含服务端节点和客户端节点的完整CMakeLists.txt内容如下:
cmake_minimum_required(VERSION 3.8)
project(custom_action_cpp)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(custom_action_interfaces REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_components REQUIRED)
add_library(action_server SHARED
src/fibonacci_action_server.cpp)
target_include_directories(action_server PRIVATE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_compile_definitions(action_server
PRIVATE "CUSTOM_ACTION_CPP_BUILDING_DLL")
ament_target_dependencies(action_server
"custom_action_interfaces"
"rclcpp"
"rclcpp_action"
"rclcpp_components")
rclcpp_components_register_node(action_server PLUGIN "custom_action_cpp::FibonacciActionServer" EXECUTABLE fibonacci_action_server)
install(TARGETS
action_server
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)
add_library(action_client SHARED
src/fibonacci_action_client.cpp)
target_include_directories(action_client PRIVATE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_compile_definitions(action_client
PRIVATE "CUSTOM_ACTION_CPP_BUILDING_DLL")
ament_target_dependencies(action_client
"custom_action_interfaces"
"rclcpp"
"rclcpp_action"
"rclcpp_components")
rclcpp_components_register_node(action_client PLUGIN "custom_action_cpp::FibonacciActionClient" EXECUTABLE fibonacci_action_client)
install(TARGETS
action_client
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)
ament_package()
我们同样将整个工作空间进行编译:
$colcon build
启动客户端节点
$source install/setup.bash
$ros2 run custom_action_cpp fibonacci_action_client
此时,我们可以先启动服务端节点再启动客户端节点,看看效果,
服务端
客户端
本篇内容并不是那么轻松(可能虽然过程理解,但是又多了一下比较陌生的宏API这些,感觉比较被动,这个还是之前那句话,没关系,后面接触多了熟悉了就好了),可以再翻翻之前的minimal_action_server和minimal_action_client例子和动作详情介绍加深一下理解。
本篇完。