1.进入工作区间
cd catkin_ws/src/
2.新建一个工程包
catkin_create_pkg learn_action std_msgs rospy roscpp
3.进入包内的src文件夹新建一个cpp
cd learn_action/src/
vi TurtleMove_server.cpp
粘贴以下代码:
#include <ros/ros.h>
#include <actionlib/server/simple_action_server.h>
#include "learn_action/TurtleMoveAction.h"
#include <turtlesim/Pose.h>
#include <turtlesim/Spawn.h>
#include <geometry_msgs/Twist.h>
typedef actionlib::SimpleActionServer<learn_action::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("Turtle1_position:(%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 learn_action::TurtleMoveGoalConstPtr& goal, Server* as)
{
learn_action::TurtleMoveFeedback feedback;
ROS_INFO("TurtleMove is working.");
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(10);
vel_msgs.angular.z = 4.0 * (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 = 0.5 * 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,向客户端返回结果
ROS_INFO("TurtleMove is finished.");
as->setSucceeded();
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "TurtleMove_server");
ros::NodeHandle n,turtle_node;
ros::Subscriber sub = turtle_node.subscribe("turtle1/pose",10,&posecallback); //订阅小乌龟的位置信息
turtle_vel = turtle_node.advertise<geometry_msgs::Twist>("turtle1/cmd_vel",10);//发布控制小乌龟运动的速度
// 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("server has started.");
ros::spin();
return 0;
}
4.进入包内的src文件夹又新建一个cpp
vi TurtleMove_client.cpp
粘贴以下代码:
#include <actionlib/client/simple_action_client.h>
#include "learn_action/TurtleMoveAction.h"
#include <turtlesim/Pose.h>
#include <turtlesim/Spawn.h>
#include <geometry_msgs/Twist.h>
typedef actionlib::SimpleActionClient<learn_action::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 learn_action::TurtleMoveResultConstPtr& result)
{
ROS_INFO("Yay! The TurtleMove is finished!");
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 learn_action::TurtleMoveFeedbackConstPtr& feedback)
{
ROS_INFO(" present_pose : %f %f %f", feedback->present_turtle_x,
feedback->present_turtle_y,feedback->present_turtle_theta);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "TurtleMove_client");
// 定义一个客户端
Client client("TurtleMove", 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
learn_action::TurtleMoveGoal goal;
goal.turtle_target_x = 1;
goal.turtle_target_y = 1;
goal.turtle_target_theta = 0;
// 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;
}
5.回到上层目录,创建action文件夹,并在此文件夹下创建TurtleMove.action文件
文件内容如下:
# Define the goal
float64 turtle_target_x # Specify Turtle's target position
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
6.修改CMakeList.txt文件
cmake_minimum_required(VERSION 2.8.3)
project(learn_action)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
message_generation
actionlib_msgs
actionlib
)
## Generate actions in the 'action' folder
add_action_files(
FILES
TurtleMove.action
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
actionlib_msgs
)
catkin_package(
CATKIN_DEPENDS roscpp rospy std_msgs
message_runtime
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_executable(TurtleMove_client src/TurtleMove_client.cpp)
target_link_libraries(TurtleMove_client ${catkin_LIBRARIES})
add_dependencies(TurtleMove_client ${PROJECT_NAME}_gencpp)
add_executable(TurtleMove_server src/TurtleMove_server.cpp)
target_link_libraries(TurtleMove_server ${catkin_LIBRARIES})
add_dependencies(TurtleMove_server ${PROJECT_NAME}_gencpp)
7.修改pakage.xml
修改为代码:
<?xml version="1.0"?>
<package format="2">
<name>learn_action</name>
<version>0.0.0</version>
<description>The learn_action package</description>
<maintainer email="patience@todo.todo">patience</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</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>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>message_runtime</exec_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>actionlib_msgs</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
8.回到工作区间,编译
cd ~/catkin_ws
catkin_make
9.新建终端,启动ros核心程序
roscore
10.注册程序
cd catkin_ws/
source ./devel/setup.bash
11.运行程序
rosrun turtlesim turtlesim_node
rosrun learn_action TurtleMove_server
rosrun learn_action TurtleMove_client
参考链接:https://blog.csdn.net/qq_39584578/article/details/94553088