ROS动作编程之控制小乌龟运动到目标位置

通过动作编程由client发布目标位置，然后控制小乌龟运动到目标位置，并实时反馈位置信息

１、TurtleMove_server.cpp文件

/*  
　　　此程序通过通过动作编程实现由client发布一个目标位置
　　　然后控制Turtle运动到目标位置的过程
 */
#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;
}

２、TurtleMove_client.cpp文件

#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;
}

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

# 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

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
   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)

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>

６、运行

1)运行小乌龟

rosrun turtlesim turtlesim_node

2)运行server

rosrun learn_action TurtleMove_server

3)运行client

rosrun learn_action TurtleMove_client