ROS动作编程之洗盘子

１、在功能包目录下创建action文件夹，并在此文件夹下创建 DoDishes.action文件

# Define the goal
uint32 dishwasher_id  # Specify which dishwasher we want to use
---
# Define the result
uint32 total_dishes_cleaned
---
# Define a feedback message
float32 percent_complete

2、DoDishes_server.cpp文件

#include <ros/ros.h>
#include <actionlib/server/simple_action_server.h>
#include "learn_action/DoDishesAction.h"

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

// 收到action的goal后调用该回调函数
void execute(const learn_action::DoDishesGoalConstPtr& goal, Server* as)
{
    ros::Rate r(1);
    learn_action::DoDishesFeedback feedback;

    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();
}

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;
}

３、DoDishes_client.cpp文件

#include <actionlib/client/simple_action_client.h>
#include "learn_action/DoDishesAction.h"

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

// 当action完成后会调用该回调函数一次
void doneCb(const actionlib::SimpleClientGoalState& state,
        const learn_action::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 learn_action::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
    learn_action::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;
}

４、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
   DoDishes.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(DoDishes_client src/DoDishes_client.cpp)
target_link_libraries(DoDishes_client ${catkin_LIBRARIES})
add_dependencies(DoDishes_client ${PROJECT_NAME}_gencpp)

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

５、package.xml文件

<?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>