ROS学习笔记（九）ros action模块学习

        ROS有消息机制，也有服务机制。一个同步的通讯机制，一个异步的通讯机制。服务机制在要求异步而且响应时间不定的场景下有先天的劣势，如果服务端迟迟没有响应，那么客户端程序将处于阻塞状态，直到超时。这会使操作变得相当耗时，因此action消息类型的出现主要解决此类问题。

 

一、自定义一个action

        在action文件夹下创建一个以.action 结尾的消息类型，消息类型主要由三部分组成：目标，结果和反馈

#part1: the goal, to be sent by the client
---
#part2: the result, to be sent by the server upon completion
---
#part3: the feedback, to be sent by server during execution

例如在项目中定义action消息如下

int32 goal_num
---
bool finsh
---
float32 complete_percent

 二、工程文件撰写

        在CMakeLists.txt 文件中添加actionlib 和actionlib_msgs依赖，add_action_files添加自定义的action文件，  generate_messages添加自定义文件的依赖包，同时增加客户端和服务端的编译

cmake_minimum_required(VERSION 3.0.2)
project(DoDishes)

add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
  actionlib
  actionlib_msgs
  std_msgs
  roscpp
  rospy
)


add_action_files(DIRECTORY action FILES DoDishes.action)

generate_messages(DEPENDENCIES std_msgs actionlib_msgs)

catkin_package(
  CATKIN_DEPENDS roscpp rospy std_msgs
)

include_directories(
 include
  ${catkin_INCLUDE_DIRS}
)


add_executable(DoDishes_client src/DoDishes_client.cpp)
target_link_libraries( DoDishes_client ${catkin_LIBRARIES})
add_dependencies(DoDishes_client ${${PROJECT_NAME}_EXPORTED_TARGETS})

add_executable(DoDishes_server src/DoDishes_server.cpp)
target_link_libraries( DoDishes_server ${catkin_LIBRARIES})
add_dependencies(DoDishes_server ${${PROJECT_NAME}_EXPORTED_TARGETS})

package.xml文件中增加相关依赖

<?xml version="1.0"?>
<package format="2">
  <name>DoDishes</name>
  <version>0.0.0</version>
  <description>The DoDishes package</description>
  <maintainer email="wei@todo.todo">wei</maintainer>
  <license>TODO</license>

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


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

  <exec_depend>actionlib</exec_depend>
  <exec_depend>actionlib_msgs</exec_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>

  <export>
  </export>
</package>

三、 coding 

3.1  客户端代码编写，此处命名为DoDishes_client.cpp文件

#include <actionlib/client/simple_action_client.h>

#include "action_test/DoDishesAction.h"  //自定义消息头文件

typedef actionlib::SimpleActionClient<action_test::DoDishesAction> Client;

// 当action完成后会调用该回调函数一次
void doneCb(const actionlib::SimpleClientGoalState& state,
            const action_test::DoDishesResultConstPtr& result) {
  ROS_INFO("Yay! The dishes are now clean");
  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 action_test::DoDishesFeedbackConstPtr& feedback) {
  ROS_INFO(" percent_complete : %f ", feedback->percent_complete);
}

int main(int argc, char** argv) {
  ros::init(argc, argv, "do_dishes_client");

  // 定义一个客户端
  Client client("do_dishes", true);

  // 等待服务器端
  ROS_INFO("Waiting for action server to start.");
  client.waitForServer();
  ROS_INFO("Action server started, sending goal.");

  // 创建一个action的goal
  action_test::DoDishesGoal goal;
  goal.dishwasher_id = 1;

  // 发送action的goal给服务器端，并且设置回调函数
  client.sendGoal(goal, &doneCb, &activeCb, &feedbackCb);

  ros::spin();

  return 0;
}

3.2 服务端代码编写

此处创建一个DoDishes_server.cpp文件

#include <actionlib/server/simple_action_server.h>
#include <ros/ros.h>

#include "action_test/DoDishesAction.h"

typedef actionlib::SimpleActionServer<action_test::DoDishesAction> Server;

// 收到action的goal后调用该回调函数
void execute(const action_test::DoDishesGoalConstPtr& goal, Server* as) {
  ros::Rate r(1);  // 设置运行效率1Hz

  action_test::DoDishesFeedback feedback;  // 创建一个反馈对象

  ROS_INFO("Dishwasher %d is working.", goal->dishwasher_id);

  // 假设洗盘子的进度，并且按照1hz的频率发布进度feedback
  for (int i = 1; i <= 10; i++) {
    feedback.percent_complete = i * 10;
    as->publishFeedback(feedback);
    r.sleep();
  }

  // 当action完成后，向客户端返回结果
  ROS_INFO("Dishwasher %d finish working.", goal->dishwasher_id);
  as->setSucceeded();  // 发送结果
}

int main(int argc, char** argv) {
  ros::init(argc, argv, "do_dishes_server");
  ros::NodeHandle n;

  // 定义一个服务器
  Server server(n, "do_dishes", boost::bind(&execute, _1, &server), false);

  // 服务器开始运行
  server.start();

  ros::spin();

  return 0;
}

 四、创建客户端和服务端的launch文件

action_client.launch

<?xml version="1.0"?>
<launch>
    <node pkg="DoDishes" type="DoDishes_client" name="DoDishes_client" output="screen"  >
    </node>

</launch>

action_server.launch

<?xml version="1.0"?>
<launch>
    <node pkg="DoDishes" type="DoDishes_server" name="DoDishes_server" output="screen"  >
    </node>

</launch>

五、运行

客户端输出

服务端输出

Enjoy！