ros笔记04--从零体验ros2行为通信方式

介绍

行为是ros2中的一种通信方式，其多被用于一些长时间运行的任务，它包含了目标、反馈、结果三部分。
行为建立在主题和服务之上，其功能类似于服务，但它可以取消操作。行为通信方式还提供了稳定的反馈，而服务通信返回单个响应。
行为通行方式使用客户-服务模型，类似于发布者-订阅者模型。行为客户端节点向行为服务端节点发送目标，服务端节点确认目标并返回反馈流和执行结果。
如下图所示，图中可清晰的体现行为通信的数据流向。

创建步骤

体验官方案例

我们以官网小海龟为例子，打开小海龟节点和键盘终端遥控节点。

打开小海龟仿真节点
$ ros2 run turtlesim turtlesim_node
打开遥控节点
$ ros2 run turtlesim turtle_teleop_key

从终端输出的结果可以看到，若无打断的话目标可以正常完成，我们也可以通过F来中断一个行为目标。

初始状态	完成目标和取消

我们也可以进一步通过 ros2 node info /node-name 来查看节点中包含的Action Servers 和 Clients。

$ ros2 node info /
...
  Action Servers:
    /turtle1/rotate_absolute: turtlesim/action/RotateAbsolute

$ ros2 node info /teleop_turtle
  Action Clients:
    /turtle1/rotate_absolute: turtlesim/action/RotateAbsolute

通过 ros2 action send_goal 让小海龟移动，通过 --feedback 来查看本次目标执行的反馈信息

小海龟旋转180度
$ ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 3.14}"
Waiting for an action server to become available...
Sending goal:
     theta: 3.14

Goal accepted with ID: 5e97b4ca2592488282727bbb36f2d90c

Result:
    delta: -3.119999885559082

Goal finished with status: SUCCEEDED

输出旋转过程中的反馈信息
$ ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 3.14}"

基于python开发行为案例

创建action接口

1. 创建接口包

   继续前几篇ros2博文，当前工作目录依旧为dev_ws
   $ cd dev_ws/src
   $ ros2 pkg create --license Apache-2.0 custom_action_interfaces
   

2. 定义action文件

   $ cd custom_action_interfaces
   $ mkdir action
   $ vim action/Fibonacci.action
   int32 order
   ---
   int32[] sequence
   ---
   int32[] partial_sequence
   

3. 在CMakeLists中新增依赖

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

4. 在package.xml下新增如下内容

   <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <member_of_group>rosidl_interface_packages</member_of_group>
   

5. 构建并测试接口

   # Change to the root of the workspace
   
   $ cd dev_ws
   # Build
   $ colcon build --packages-select custom_action_interfaces
   输出：
   Starting >>> custom_action_interfaces
   Finished <<< custom_action_interfaces [0.65s]                     
   
   Summary: 1 package finished [0.86s]
   

   输出接口信息：

   $ source install/local_setup.bash
   $ ros2 interface show custom_action_interfaces/action/Fibonacci
   

   

创建action sever和client

1. 创建保 action_tutorials_py

   $ cd dev_ws/src
   $ ros2 pkg create --build-type ament_python --license Apache-2.0 action_tutorials_py
   

2. 创建 action server
   vim action_tutorials_py/action_tutorials_py/fibonacci_action_server.py

   import time
   
   import rclpy
   from rclpy.action import ActionServer
   from rclpy.node import Node
   
   from custom_action_interfaces.action import Fibonacci
   
   
   class FibonacciActionServer(Node):
   
       def __init__(self):
           super().__init__('fibonacci_action_server')
           self._action_server = ActionServer(
               self,
               Fibonacci,
               'fibonacci',
               self.execute_callback)
   
       def execute_callback(self, goal_handle):
           self.get_logger().info('Executing goal...')
   
           feedback_msg = Fibonacci.Feedback()
           feedback_msg.partial_sequence = [0, 1]
   
           for i in range(1, goal_handle.request.order):
               feedback_msg.partial_sequence.append(
                   feedback_msg.partial_sequence[i] + feedback_msg.partial_sequence[i-1])
               self.get_logger().info('Feedback: {0}'.format(feedback_msg.partial_sequence))
               goal_handle.publish_feedback(feedback_msg)
               time.sleep(1)
   
           goal_handle.succeed()
   
           result = Fibonacci.Result()
           result.sequence = feedback_msg.partial_sequence
           return result
   
   
   def main(args=None):
       rclpy.init(args=args)
       fibonacci_action_server = FibonacciActionServer()
       rclpy.spin(fibonacci_action_server)
   
   
   if __name__ == '__main__':
       main()
   

3. 创建 action client
   vim action_tutorials_py/action_tutorials_py/fibonacci_action_client.py

   import rclpy
   from rclpy.action import ActionClient
   from rclpy.node import Node
   
   from custom_action_interfaces.action import Fibonacci
   
   
   class FibonacciActionClient(Node):
   
       def __init__(self):
           super().__init__('fibonacci_action_client')
           self._action_client = ActionClient(self, Fibonacci, 'fibonacci')
   
       def send_goal(self, order):
           goal_msg = Fibonacci.Goal()
           goal_msg.order = order
   
           self._action_client.wait_for_server()
   
           self._send_goal_future = self._action_client.send_goal_async(goal_msg, feedback_callback=self.feedback_callback)
   
           self._send_goal_future.add_done_callback(self.goal_response_callback)
   
       def goal_response_callback(self, future):
           goal_handle = future.result()
           if not goal_handle.accepted:
               self.get_logger().info('Goal rejected :(')
               return
   
           self.get_logger().info('Goal accepted :)')
   
           self._get_result_future = goal_handle.get_result_async()
           self._get_result_future.add_done_callback(self.get_result_callback)
   
       def get_result_callback(self, future):
           result = future.result().result
           self.get_logger().info('Result: {0}'.format(result.sequence))
           rclpy.shutdown()
   
       def feedback_callback(self, feedback_msg):
           feedback = feedback_msg.feedback
           self.get_logger().info('Received feedback: {0}'.format(feedback.partial_sequence))
   
   
   def main(args=None):
       rclpy.init(args=args)
       action_client = FibonacciActionClient()
       action_client.send_goal(10)
       rclpy.spin(action_client)
   
   
   if __name__ == '__main__':
       main()
   

4. 在 package.xml 中新增依赖项

     <depend>action_tutorials_interfaces</depend>
     <exec_depend>rclpy</exec_depend>
   

5. 在 setup.py中新增 entry point

       entry_points={
           'console_scripts': [
               'fibonacci_action_server = action_tutorials_py.fibonacci_action_server:main',
               'fibonacci_action_client = action_tutorials_py.fibonacci_action_client:main',
           ],
       },
   

6. 构建 & 运行

   构建
   $ cd dev_ws
   $ colcon build --packages-select action_tutorials_py
   运行
   $ source install/setup.bash
   $ ros2 run action_tutorials_py fibonacci_action_server
   $ ros2 run action_tutorials_py fibonacci_action_client
   $ ros2 action send_goal fibonacci custom_action_interfaces/action/Fibonacci "{order: 5}"
   

   输出结果如下：
   
   直接通过 ros2 action send_goal 来发送action请求
   

注意事项

1. 官方文档直接使用 python3 fibonacci_action_server.py 和 python3 fibonacci_action_client.py 来执行验证，此处为了保持python项目的统一，直接设置了 entry point 并进行了编译构建。

说明

软件版本
ubuntu24.04 Desktop
ros2 jazzy
python 3.12.4(conda)
参考文档
ros2 jazzy 官方文档 Understanding actions
ros2 jazzy 官方文档 Writing an action server and client
ros2官网demos jazzy/action_tutorials/action_tutorials_py