ROS actionlib框架解析

最新推荐文章于 2022-05-15 11:23:58 发布

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最新推荐文章于 2022-05-15 11:23:58 发布

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分类专栏： ROS 文章标签： ROS actionlib

本文链接：https://blog.csdn.net/harrypap/article/details/102497954

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ROS actionlib提供了一种在ROS server基础上，支持长时间任务中断和执行反馈的机制。它允许Action Client发送goal请求，Action Server执行并可能被取消。反馈机制允许服务器在执行过程中报告status、result和feedback。在机器人系统中，goal定义关节目标位置和速度，cancel用于取消指令，result指示目标是否成功，status表示机器人状态，feedback则包含关节实时位置和速度信息。

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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.