ros2运行action动作通讯报错

前提

在B站看的赵虚左的ros2理论与实践
定义action结构体

int64 num
---
int64 sum
---
float64 progress

1. 编译报错

写完action服务端后编译报错
undefined reference to rclcpp_action::ServerBase::~ServerBase()
找不到serverBase，这属于库函数

解决

配置写action服务端的包的CMakeList.txt

find_package(rclcpp_action REQUIRED)

ament_target_dependencies (
test_node
"rclcpp"
"rclcpp_action"
)

使用命令行发送action send_goal报错

action服务端运行起来后，在另一个窗口模拟客户端发送指令报错

ros2 action send_goal /get_sum interfaces/action/Progress -f "{'num': 10}"

ros2 action send_goal /get_sum interfaces/action/Progress -f "{num: 10}"

ros2 action send_goal /get_sum interfaces/action/Progress "{'num': 10}"

ros2 action send_goal /get_sum interfaces/action/Progress {num: 10}

ros2 action send_goal /get_sum interfaces/action/Progress num 10

ros2 action send_goal /get_sum interfaces/action/Progress {"num":10}

报错如下

1. The passed action type is invalid
2. Failed to populate message fields: AttributeError()
3. ros2: error: unrecognized arguments: xx

解决

ros2 action send_goal /get_sum interfaces/action/Progress "{num: 10}"

ros2 action send_goal /get_sum interfaces/action/Progress '{num: 10}'