ROS action 以类的方式编写
flyfish
普通用法
1 #include <chores/DoDishesAction.h> // Note: "Action" is appended
2 #include <actionlib/client/simple_action_client.h>
3
4 typedef actionlib::SimpleActionClient<chores::DoDishesAction> Client;
5
6 int main(int argc, char** argv)
7 {
8 ros::init(argc, argv, "do_dishes_client");
9 Client client("do_dishes", true); // true -> don't need ros::spin()
10 client.waitForServer();
11 chores::DoDishesGoal goal;
12 // Fill in goal here
13 client.sendGoal(goal);
14 client.waitForResult(ros::Duration(5.0));
15 if (client.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
16 printf("Yay! The dishes are now clean");
17 printf("Current State: %s\n", client.getState().toString().c_str());
18 return 0;
19 }
下面三个回调分别表示
完成时触发
激活时触发
不断反馈时触发
void sendGoal (const Goal &goal,
SimpleDoneCallback done_cb=SimpleDoneCallback(),
SimpleActiveCallback active_cb=SimpleActiveCallback(),
SimpleFeedbackCallback feedback_cb=SimpleFeedbackCallback())
以类的方式编写
如果写成 C++形式 头文件声明,实现函数分开类似这样
包含的头文件
#include <actionlib/client/simple_action_client.h>
#include <control_msgs/FollowJointTrajectoryAction.h>
以下类型都是ROS提供
typedef actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> ACTIONCLIENT;
ACTIONCLIENT action_client_;
void ClassName::DoneCb(const actionlib::SimpleClientGoalState& state,
const control_msgs::FollowJointTrajectoryResultConstPtr& result)
调用方法
action_client_.sendGoal(goal_,
boost::bind(&NameSpace::ClassName::DoneCb, this, _1, _2),
ACTIONCLIENT::SimpleActiveCallback(),
ACTIONCLIENT::SimpleFeedbackCallback());
如果没有命名空间可以这样
action_client_.sendGoal(goal_,
boost::bind(&ClassName::DoneCb, this, _1, _2),
ACTIONCLIENT::SimpleActiveCallback(),
ACTIONCLIENT::SimpleFeedbackCallback());