actionlib的概念和作用:
ROS wiki的解释为:
In any large ROS based system, there are cases when someone would like to send a request to a node to perform some task, and also receive a reply to the request. This can currently be achieved via ROS services.
In some cases, however, if the service takes a long time to execute, the user might want the ability to cancel the request during execution or get periodic feedback about how the request is progressing. The actionlib package provides tools to create servers that execute long-running goals that can be preempted. It also provides a client interface in order to send requests to the server.
译:在任何基于ros的大型系统中,都存在这样的情况:有人希望向节点发送请求以执行某些任务,同时也希望收到对请求的回复。这目前可以通过ros server实现。
但是,在某些情况下,如果服务需要很长时间才能执行,则用户可能希望能够在执行期间取消请求,或获得有关