ROS使用（5）action学习

action消息的构建

首先进行功能包的创建

mkdir -p ros2_ws/src
cd ros2_ws/src
ros2 pkg create action_tutorials_interfaces

action消息的类型

# Request
---
# Result
---
# Feedback

动作定义由三个消息定义组成，以---分隔。

• 从动作客户机向动作服务器发送请求消息以启动新目标。
• 当目标完成时，从动作服务器向动作客户端发送结果消息。
• 反馈消息周期性地从动作服务器发送到动作客户端，其中包含关于目标的更新。

创建消息

cd action_tutorials_interfaces
mkdir action

创建一个Fibonacci.action文件指定action的消息

int32 order
---
int32[] sequence
---
int32[] partial_sequence

编译消息

在我们可以在代码中使用新的Fibonacci动作类型之前，我们必须将定义传递给Rosidl代码生成管道。这可以通过在CMakeLists.txt中的ament_package（）行之前添加以下行来实现，即action_tutorials_interfaces中的行：

CMAkeLists.txt文件进行修改

find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  "action/Fibonacci.action"
)

xml文件进行修改

<buildtool_depend>rosidl_default_generators</buildtool_depend>

<depend>action_msgs</depend>

<member_of_group>rosidl_interface_packages</member_of_group>

在这里action文件就算是生成了

action_server进行使用

进行action使用的功能包的创建

os2 pkg create --dependencies action_tutorials_interfaces rclcpp rclcpp_action rclcpp_components -- action_tutorials_cpp

action_tutorials_interfaces rclcpp rclcpp_action rclcpp_components为该功能包的相关依赖

windows编译

为了使软件包能够在Windows上编译和工作，我们需要添加一些“可见性控制”。有关详细信息，请参见Windows提示和技巧文档中的Windows符号可见性。
打开action_tutorials_cpp/include/action_tutorials_cpp/visibility_control.h，并将以下代码放入：

#ifndef ACTION_TUTORIALS_CPP__VISIBILITY_CONTROL_H_
#define ACTION_TUTORIALS_CPP__VISIBILITY_CONTROL_H_

#ifdef __cplusplus
extern "C"
{
#endif

// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
//     https://gcc.gnu.org/wiki/Visibility

#if defined _WIN32 || defined __CYGWIN__
  #ifdef __GNUC__
    #define ACTION_TUTORIALS_CPP_EXPORT __attribute__ ((dllexport))
    #define ACTION_TUTORIALS_CPP_IMPORT __attribute__ ((dllimport))
  #else
    #define ACTION_TUTORIALS_CPP_EXPORT __declspec(dllexport)
    #define ACTION_TUTORIALS_CPP_IMPORT __declspec(dllimport)
  #endif
  #ifdef ACTION_TUTORIALS_CPP_BUILDING_DLL
    #define ACTION_TUTORIALS_CPP_PUBLIC ACTION_TUTORIALS_CPP_EXPORT
  #else
    #define ACTION_TUTORIALS_CPP_PUBLIC ACTION_TUTORIALS_CPP_IMPORT
  #endif
  #define ACTION_TUTORIALS_CPP_PUBLIC_TYPE ACTION_TUTORIALS_CPP_PUBLIC
  #define ACTION_TUTORIALS_CPP_LOCAL
#else
  #define ACTION_TUTORIALS_CPP_EXPORT __attribute__ ((visibility("default")))
  #define ACTION_TUTORIALS_CPP_IMPORT
  #if __GNUC__ >= 4
    #define ACTION_TUTORIALS_CPP_PUBLIC __attribute__ ((visibility("default")))
    #define ACTION_TUTORIALS_CPP_LOCAL  __attribute__ ((visibility("hidden")))
  #else
    #define ACTION_TUTORIALS_CPP_PUBLIC
    #define ACTION_TUTORIALS_CPP_LOCAL
  #endif
  #define ACTION_TUTORIALS_CPP_PUBLIC_TYPE
#endif

#ifdef __cplusplus
}
#endif

#endif  // ACTION_TUTORIALS_CPP__VISIBILITY_CONTROL_H_

创建server文件

#include <functional>
#include <memory>
#include <thread>

#include "action_tutorials_interfaces/action/fibonacci.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "rclcpp_components/register_node_macro.hpp"

#include "action_tutorials_cpp/visibility_control.h"

namespace action_tutorials_cpp
{
  // 进行节点的创建
class FibonacciActionServer : public rclcpp::Node
{
public:
  // 声明数据类型
  using Fibonacci = action_tutorials_interfaces::action::Fibonacci;
  using GoalHandleFibonacci = rclcpp_action::ServerGoalHandle<Fibonacci>;

  ACTION_TUTORIALS_CPP_PUBLIC
  explicit FibonacciActionServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
  : Node("fibonacci_action_server", options)
  {
    using namespace std::placeholders;
    // 创建对应的服务
    this->action_server_ = rclcpp_action::create_server<Fibonacci>(
      this,
      "fibonacci",
      // 用于处理目标的回调函数
      std::bind(&FibonacciActionServer::handle_goal, this, _1, _2),
      // 用于处理取消的回调函数
      std::bind(&FibonacciActionServer::handle_cancel, this, _1),
      // 用于处理目标接受的回调函数
      std::bind(&FibonacciActionServer::handle_accepted, this, _1));
  }

private:
  rclcpp_action::Server<Fibonacci>::SharedPtr action_server_;

  rclcpp_action::GoalResponse handle_goal(
    const rclcpp_action::GoalUUID & uuid,
    std::shared_ptr<const Fibonacci::Goal> goal)
  {
    RCLCPP_INFO(this->get_logger(), "Received goal request with order %d", goal->order);
    (void)uuid;
    return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
  }

  rclcpp_action::CancelResponse handle_cancel(
    const std::shared_ptr<GoalHandleFibonacci> goal_handle)
  {
    RCLCPP_INFO(this->get_logger(), "Received request to cancel goal");
    (void)goal_handle;
    return rclcpp_action::CancelResponse::ACCEPT;
  }

  void handle_accepted(const std::shared_ptr<GoalHandleFibonacci> goal_handle)
  {
    using namespace std::placeholders;
    // this needs to return quickly to avoid blocking the executor, so spin up a new thread
    std::thread{std::bind(&FibonacciActionServer::execute, this, _1), goal_handle}.detach();
  }

  void execute(const std::shared_ptr<GoalHandleFibonacci> goal_handle)
  {
    RCLCPP_INFO(this->get_logger(), "Executing goal");
    rclcpp::Rate loop_rate(1);
    const auto goal = goal_handle->get_goal();
    auto feedback = std::make_shared<Fibonacci::Feedback>();
    auto & sequence = feedback->partial_sequence;
    sequence.push_back(0);
    sequence.push_back(1);
    auto result = std::make_shared<Fibonacci::Result>();

    for (int i = 1; (i < goal->order) && rclcpp::ok(); ++i) {
      // Check if there is a cancel request
      if (goal_handle->is_canceling()) {
        result->sequence = sequence;
        goal_handle->canceled(result);
        RCLCPP_INFO(this->get_logger(), "Goal canceled");
        return;
      }
      // Update sequence
      sequence.push_back(sequence[i] + sequence[i - 1]);
      // Publish feedback
      goal_handle->publish_feedback(feedback);
      RCLCPP_INFO(this->get_logger(), "Publish feedback");

      loop_rate.sleep();
    }

    // Check if goal is done
    if (rclcpp::ok()) {
      result->sequence = sequence;
      goal_handle->succeed(result);
      RCLCPP_INFO(this->get_logger(), "Goal succeeded");
    }
  }
};  // class FibonacciActionServer

}  // namespace action_tutorials_cpp

RCLCPP_COMPONENTS_REGISTER_NODE(action_tutorials_cpp::FibonacciActionServer)

几个关键的数据类型

ClientGoalHandle：

用于与客户端发送过来的目标进行交互。可以使用此类检查目标的状态和结果，这个类不是通过用户创建的，而是在目标进行接受。

// 使用这个类去检查goal 的状态和这个结果，并不意味着被用户创建，当一个用户的goal被接受的时候才能被创建
template<typename ActionT>
class ServerGoalHandle : public ServerGoalHandleBase
{
public:
//   发送一个更新数据，处理真个进行关于goal目标的
//  这个函数只能当goal被调用的时候才能被调用
// 
  void
  publish_feedback(std::shared_ptr<typename ActionT::Feedback> feedback_msg)
  {
    auto feedback_message = std::make_shared<typename ActionT::Impl::FeedbackMessage>();
    feedback_message->goal_id.uuid = uuid_;
    feedback_message->feedback = *feedback_msg;
    publish_feedback_(feedback_message);
  }
// 当goal无法达到，并且已中止。
// 只有当goal正在执行但无法完成时才调用此函数。
// 这是一个终端状态，在这之后不应该再对目标句柄调用任何方法
// param[in]result_msg要发送给客户端的最终结果。

  void
  abort(typename ActionT::Result::SharedPtr result_msg)
  {
    _abort();
    auto response = std::make_shared<typename ActionT::Impl::GetResultService::Response>();
    response->status = action_msgs::msg::GoalStatus::STATUS_ABORTED;
    response->result = *result_msg;
    on_terminal_state_(uuid_, response);
  }

  /// 当这个goal执行成功的时候执行
//  param[in] result_msg the final result to send to clients.
  void
  succeed(typename ActionT::Result::SharedPtr result_msg)
  {
    _succeed();
    auto response = std::make_shared<typename ActionT::Impl::GetResultService::Response>();
    response->status = action_msgs::msg::GoalStatus::STATUS_SUCCEEDED;
    response->result = *result_msg;
    on_terminal_state_(uuid_, response);
  }

  /// Indicate that a goal has been canceled.
  /**
   * Only call this if the goal is executing or pending, but has been canceled.
   * This is a terminal state, no more methods should be called on a goal handle after this is
   * called.
   * \throws rclcpp::exceptions::RCLError If the goal is in any state besides executing.
   *
   * \param[in] result_msg the final result to send to clients.
   */
  void
  canceled(typename ActionT::Result::SharedPtr result_msg)
  {
    _canceled();
    auto response = std::make_shared<typename ActionT::Impl::GetResultService::Response>();
    response->status = action_msgs::msg::GoalStatus::STATUS_CANCELED;
    response->result = *result_msg;
    on_terminal_state_(uuid_, response);
  }

  /// Indicate that the server is starting to execute a goal.
//  throws rclcpp::exceptions::RCLError If the goal is in any state besides executing.
  void
  execute()
  {
    _execute();
    on_executing_(uuid_);
  }

  /// Get the user provided message describing the goal.
  const std::shared_ptr<const typename ActionT::Goal>
  get_goal() const
  {
    return goal_;
  }

  /// Get the unique identifier of the goal
  const GoalUUID &
  get_goal_id() const
  {
    return uuid_;
  }

  virtual ~ServerGoalHandle()
  {
    // Cancel goal if handle was allowed to destruct without reaching a terminal state
    if (try_canceling()) {
      auto null_result = std::make_shared<typename ActionT::Impl::GetResultService::Response>();
      null_result->status = action_msgs::msg::GoalStatus::STATUS_CANCELED;
      on_terminal_state_(uuid_, null_result);
    }
  }

protected:
  /// \internal
  ServerGoalHandle(
    std::shared_ptr<rcl_action_goal_handle_t> rcl_handle,
    GoalUUID uuid,
    std::shared_ptr<const typename ActionT::Goal> goal,
    std::function<void(const GoalUUID &, std::shared_ptr<void>)> on_terminal_state,
    std::function<void(const GoalUUID &)> on_executing,
    std::function<void(std::shared_ptr<typename ActionT::Impl::FeedbackMessage>)> publish_feedback
  )
  : ServerGoalHandleBase(rcl_handle), goal_(goal), uuid_(uuid),
    on_terminal_state_(on_terminal_state), on_executing_(on_executing),
    publish_feedback_(publish_feedback)
  {
  }

  /// The user provided message describing the goal.
  const std::shared_ptr<const typename ActionT::Goal> goal_;

  /// A unique id for the goal request.
  const GoalUUID uuid_;

  friend Server<ActionT>;

  std::function<void(const GoalUUID &, std::shared_ptr<void>)> on_terminal_state_;
  std::function<void(const GoalUUID &)> on_executing_;
  std::function<void(std::shared_ptr<typename ActionT::Impl::FeedbackMessage>)> publish_feedback_;
};

/// A response returned by an action server callback when a goal is requested.
enum class GoalResponse : int8_t
{
  /// The goal is rejected and will not be executed.
  REJECT = 1,
  /// The server accepts the goal, and is going to begin execution immediately.
  ACCEPT_AND_EXECUTE = 2,
  /// The server accepts the goal, and is going to execute it later.
  ACCEPT_AND_DEFER = 3,
};

/// A response returned by an action server callback when a goal has been asked to be canceled.
enum class CancelResponse : int8_t
{
  /// The server will not try to cancel the goal.
  REJECT = 1,
  /// The server has agreed to try to cancel the goal.
  ACCEPT = 2,
};

action client定义

#include <functional>
#include <future>
#include <memory>
#include <string>
#include <sstream>

#include "action_tutorials_interfaces/action/fibonacci.hpp"

#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "rclcpp_components/register_node_macro.hpp"

namespace action_tutorials_cpp
{
class FibonacciActionClient : public rclcpp::Node
{
public:
  using Fibonacci = action_tutorials_interfaces::action::Fibonacci;
  using GoalHandleFibonacci = rclcpp_action::ClientGoalHandle<Fibonacci>;

  explicit FibonacciActionClient(const rclcpp::NodeOptions & options)
  : Node("fibonacci_action_client", options)
  {
    this->client_ptr_ = rclcpp_action::create_client<Fibonacci>(
      this,
      "fibonacci");

    this->timer_ = this->create_wall_timer(
      std::chrono::milliseconds(500),
      std::bind(&FibonacciActionClient::send_goal, this));
  }

  void send_goal()
  {
    using namespace std::placeholders;

    this->timer_->cancel();

    if (!this->client_ptr_->wait_for_action_server()) {
      RCLCPP_ERROR(this->get_logger(), "Action server not available after waiting");
      rclcpp::shutdown();
    }

    auto goal_msg = Fibonacci::Goal();
    goal_msg.order = 10;

    RCLCPP_INFO(this->get_logger(), "Sending goal");

    auto send_goal_options = rclcpp_action::Client<Fibonacci>::SendGoalOptions();
    send_goal_options.goal_response_callback =
      std::bind(&FibonacciActionClient::goal_response_callback, this, _1);
    send_goal_options.feedback_callback =
      std::bind(&FibonacciActionClient::feedback_callback, this, _1, _2);
    send_goal_options.result_callback =
      std::bind(&FibonacciActionClient::result_callback, this, _1);
    this->client_ptr_->async_send_goal(goal_msg, send_goal_options);
  }

private:
  rclcpp_action::Client<Fibonacci>::SharedPtr client_ptr_;
  rclcpp::TimerBase::SharedPtr timer_;

  void goal_response_callback(std::shared_future<GoalHandleFibonacci::SharedPtr> future)
  {
    auto goal_handle = future.get();
    if (!goal_handle) {
      RCLCPP_ERROR(this->get_logger(), "Goal was rejected by server");
    } else {
      RCLCPP_INFO(this->get_logger(), "Goal accepted by server, waiting for result");
    }
  }

  void feedback_callback(
    GoalHandleFibonacci::SharedPtr,
    const std::shared_ptr<const Fibonacci::Feedback> feedback)
  {
    std::stringstream ss;
    ss << "Next number in sequence received: ";
    for (auto number : feedback->partial_sequence) {
      ss << number << " ";
    }
    RCLCPP_INFO(this->get_logger(), ss.str().c_str());
  }

  void result_callback(const GoalHandleFibonacci::WrappedResult & result)
  {
    switch (result.code) {
      case rclcpp_action::ResultCode::SUCCEEDED:
        break;
      case rclcpp_action::ResultCode::ABORTED:
        RCLCPP_ERROR(this->get_logger(), "Goal was aborted");
        return;
      case rclcpp_action::ResultCode::CANCELED:
        RCLCPP_ERROR(this->get_logger(), "Goal was canceled");
        return;
      default:
        RCLCPP_ERROR(this->get_logger(), "Unknown result code");
        return;
    }
    std::stringstream ss;
    ss << "Result received: ";
    for (auto number : result.result->sequence) {
      ss << number << " ";
    }
    RCLCPP_INFO(this->get_logger(), ss.str().c_str());
    rclcpp::shutdown();
  }
};  // class FibonacciActionClient

}  // namespace action_tutorials_cpp

RCLCPP_COMPONENTS_REGISTER_NODE(action_tutorials_cpp::FibonacciActionClient)

配置对应的CMakeLists.txt文件

add_library(action_server SHARED
  src/fibonacci_action_server.cpp)
target_include_directories(action_server PRIVATE
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)
target_compile_definitions(action_server
  PRIVATE "ACTION_TUTORIALS_CPP_BUILDING_DLL")
ament_target_dependencies(action_server
  "action_tutorials_interfaces"
  "rclcpp"
  "rclcpp_action"
  "rclcpp_components")
rclcpp_components_register_node(action_server PLUGIN "action_tutorials_cpp::FibonacciActionServer" EXECUTABLE fibonacci_action_server)
install(TARGETS
  action_server
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin)

add_library(action_client SHARED
  src/fibonacci_action_client.cpp)
target_include_directories(action_client PRIVATE
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)
target_compile_definitions(action_client
  PRIVATE "ACTION_TUTORIALS_CPP_BUILDING_DLL")
ament_target_dependencies(action_client
  "action_tutorials_interfaces"
  "rclcpp"
  "rclcpp_action"
  "rclcpp_components")
rclcpp_components_register_node(action_client PLUGIN "action_tutorials_cpp::FibonacciActionClient" EXECUTABLE fibonacci_action_client)
install(TARGETS
  action_client
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin)

通过编译之后就可以得到对应的模型