#ROS通讯机制：action

#使用Action通信机制移动小海龟

1、创建工作包

lzw08@ubuntu:~$ cd ros_workspace/src
lzw08@ubuntu:~/ros_workspace/src$ catkin_create_pkg turtlemove roscpp rospy rosmsg std_msgs

说明：第一步是在工作空间下创建了一个名为 turtlemove 的工作包，roscpp、rospy、rosmsg、std_msgs都是此工作包的依赖项。

2、进入工作包创建action目录及.action文件

lzw08@ubuntu:~/ros_workspace/src$ cd turtlemove/
lzw08@ubuntu:~/ros_workspace/src/turtlemove$ mkdir action
lzw08@ubuntu:~/ros_workspace/src/turtlemove$ cd action/
lzw08@ubuntu:~/ros_workspace/src/turtlemove/action$ touch turtleMove.action

将以下代码粘贴到.action文件中：

# Define the goal
float64 turtle_target_x 
float64 turtle_target_y
float64 turtle_target_theta
---
# Define the result
float64 turtle_final_x
float64 turtle_final_y
float64 turtle_final_theta
---
# Define a feedback message
float64 present_turtle_x
float64 present_turtle_y
float64 present_turtle_theta

然后保存并关闭。

说明：第二步是在新建的turtlemove工作包下新建了action目录，并且在action目录中新建了一个名为turtleMove.action的文件。

3、回到上级目录修改相关文件

1）修改package.xml

lzw08@ubuntu:~/ros_workspace/src/turtlemove/action$ cd ..
lzw08@ubuntu:~/ros_workspace/src/turtlemove$ gedit package.xml 

修改前：

修改后：

供复制：

  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rosmsg</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>message_generation</build_depend>
  <build_depend>actionlib</build_depend>
  <build_depend>actionlib_msgs</build_depend>

  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rosmsg</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <build_export_depend>message_generation</build_export_depend>
  <build_export_depend>actionlib</build_export_depend>
  <build_export_depend>actionlib_msgs</build_export_depend>

  <exec_depend>roscpp</exec_depend>
  <exec_depend>rosmsg</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>message_generation</exec_depend>
  <exec_depend>actionlib</exec_depend>
  <exec_depend>actionlib_msgs</exec_depend>
  <exec_depend>message_runtime</exec_depend>

2）修改CMakeLists.txt

lzw08@ubuntu:~/ros_workspace/src/turtlemove$ gedit CMakeLists.txt 

修改前 vs 修改后

4、回到工作空间编译

lzw08@ubuntu:~/ros_workspace/src/turtlemove$ cd ~/ros_workspace/
lzw08@ubuntu:~/ros_workspace$ catkin_make

注意观察工作空间下的devel目录下是否有include目录生成，里面包含的文件如下图：

5、进入工作包里面的src建.cpp文件

lzw08@ubuntu:~/ros_workspace$ cd src/turtlemove/src
lzw08@ubuntu:~/ros_workspace/src/turtlemove/src$ touch turtleMoveClient.cpp
lzw08@ubuntu:~/ros_workspace/src/turtlemove/src$ touch turtleMoveServer.cpp

1）turtleMoveClient.cpp

  #include <actionlib/client/simple_action_client.h>
  #include "turtlemove/turtleMoveAction.h"
  #include <turtlesim/Pose.h>
  #include <turtlesim/Spawn.h>
  #include <geometry_msgs/Twist.h>
  typedef actionlib::SimpleActionClient<turtlemove::turtleMoveAction> Client;
  struct Myturtle
  {
  float x;
  float y;
  float theta;
  }turtle_present_pose;
 
   // 当action完成后会调⽤该回调函数⼀次
   void doneCb(const actionlib::SimpleClientGoalState& state,
   const turtlemove::turtleMoveResultConstPtr& result)
   {
   ROS_INFO("海⻳机器⼈移动已结束 finished ! action完成后");
   ros::shutdown();
   }
 
   // 当action激活后会调⽤该回调函数⼀次
   void activeCb()
   {
   ROS_INFO("Goal just went active");
   }
 
   // 收到feedback后调⽤该回调函数
   void feedbackCb(const turtlemove::turtleMoveFeedbackConstPtr& feedback)
   {
   ROS_INFO(" 海⻳机器⼈的位置 Pose : %f %f %f", feedback->present_turtle_x,
   feedback->present_turtle_y,feedback->present_turtle_theta);
   }

   int main(int argc, char** argv)
   { setlocale(LC_CTYPE, "zh_CN.utf8");
   ros::init(argc, argv, "turtleMoveClient");
  
   // 定义⼀个客⼾端
   Client client("turtleMove", true);
 
   // 等待服务器端
   ROS_INFO("正在等待Action服务器启动.");
   client.waitForServer();// 等待动作服务器启动
   ROS_INFO("Action服务器已启动，正在发送⽬标.");
 
   // 创建⼀个action的goal 声明动作⽬标
   turtlemove::turtleMoveGoal goal;
   goal.turtle_target_x = 8;
   goal.turtle_target_y = 8;
   goal.turtle_target_theta = 2;
 
   // 发送action的goal给服务器端，并且设置回调函数
   client.sendGoal(goal, &doneCb, &activeCb, &feedbackCb);// 发送动作⽬标
 
   ros::spin();
   return 0;
}

2）turtleMoveServer.cpp

  #include <ros/ros.h>
  #include <actionlib/server/simple_action_server.h>
  #include "turtlemove/turtleMoveAction.h"
  #include <turtlesim/Pose.h>
  #include <turtlesim/Spawn.h>
  #include <geometry_msgs/Twist.h>
 
   typedef actionlib::SimpleActionServer<turtlemove::turtleMoveAction> Server;
 
   struct Myturtle
   {
   float x;
   float y;
   float theta;
   }turtle_original_pose,turtle_target_pose;
  
   ros::Publisher turtle_vel;
 
   void posecallback(const turtlesim::PoseConstPtr& msg)
   {
   //ROS_INFO("海⻳机器⼈的位置:(%f,%f,%f)",msg->x,msg->y,msg->theta);
   turtle_original_pose.x=msg->x;
   turtle_original_pose.y=msg->y;
   turtle_original_pose.theta=msg->theta;
   }
 
   // 收到action的goal后调⽤该回调函数
   void execute(const turtlemove::turtleMoveGoalConstPtr& goal, Server* as)
   {
   turtlemove::turtleMoveFeedback feedback;
  
   ROS_INFO("海⻳机器⼈ 开始启动.");
   turtle_target_pose.x=goal->turtle_target_x;
   turtle_target_pose.y=goal->turtle_target_y;
   turtle_target_pose.theta=goal->turtle_target_theta;
  
   geometry_msgs::Twist vel_msgs;
   float break_flag;
 
   while(1)
   {
   ros::Rate r(1);
 
   vel_msgs.angular.z = 1.0 * (atan2(turtle_target_pose.y-turtle_original_pose.y,
turtle_target_pose.x-turtle_original_pose.x)-
turtle_original_pose.theta);
 
   vel_msgs.linear.x = 0.2 * sqrt(pow(turtle_target_pose.x-turtle_original_pose.x, 2) +
   pow(turtle_target_pose.y-turtle_original_pose.y, 2));
   break_flag=sqrt(pow(turtle_target_pose.x-turtle_original_pose.x, 2) +
   pow(turtle_target_pose.y-turtle_original_pose.y, 2));
   turtle_vel.publish(vel_msgs);
 
   feedback.present_turtle_x=turtle_original_pose.x;
   feedback.present_turtle_y=turtle_original_pose.y;
   feedback.present_turtle_theta=turtle_original_pose.theta;
   as->publishFeedback(feedback);
   ROS_INFO("break_flag=%f",break_flag);
   if(break_flag<0.1) break;
   r.sleep();
   }
   // 当action完成后，向客⼾端返回结果
   ROS_INFO("海⻳机器⼈移动已结束 server.");
   as->setSucceeded();
   }
  
   int main(int argc, char** argv)
   { setlocale(LC_CTYPE, "zh_CN.utf8");
   ros::init(argc, argv, "turtleMove");
   ros::NodeHandle n,turtle_node;
   ros::Subscriber sub = turtle_node.subscribe("turtle1/pose",10,&posecallback);
    //订阅海⻳机器⼈的位置信息
 
   turtle_vel = turtle_node.advertise<geometry_msgs::Twist>("turtle1/cmd_vel",2);
   //发布控制海⻳机器⼈运动的速度
 
   // 定义⼀个服务器
   Server server(n, "turtleMove", boost::bind(&execute, _1, &server), false);
   // 服务器开始运⾏
   server.start();
   ROS_INFO("服务器已启动.");
   ros::spin();
  
   return 0;
   }

6、回到上级目录修改编译规则

lzw08@ubuntu:~/ros_workspace/src/turtlemove/src$ cd ..
lzw08@ubuntu:~/ros_workspace/src/turtlemove$ gedit CMakeLists.txt 

修改前 vs 修改后

add_executable(turtleMoveServer src/turtleMoveServer.cpp)
add_executable(turtleMoveClient src/turtleMoveClient.cpp)

 target_link_libraries(turtleMoveServer
   ${catkin_LIBRARIES}
 )
 target_link_libraries(turtleMoveClient
   ${catkin_LIBRARIES}
 )

7、回到工作空间编译

lzw08@ubuntu:~/ros_workspace/src/turtlemove$ cd ~/ros_workspace/
lzw08@ubuntu:~/ros_workspace$ catkin_make

编译成功就可以运行了。

8、运行

1）运行主节点

2）运行小海龟

3）运行turtleMoveClient节点

lzw08@ubuntu:~/ros_workspace$ source devel/setup.bash 
lzw08@ubuntu:~/ros_workspace$ rosrun turtlemove turtleMoveClient 

4）运行turtleMoveServer节点

lzw08@ubuntu:~$ cd ros_workspace/
lzw08@ubuntu:~/ros_workspace$ source devel/setup.bash
lzw08@ubuntu:~/ros_workspace$ rosrun turtlemove turtleMoveServer

上图也即最终效果图。

9、注意事项

1）.action文件里面的代码全部得顶格，不然编译会出错！

2）.cpp里面的头文件包含工作包名字，注意一致

还有其他问题可以在评论区留言或者私信我。

10、下期见 ~