[ROS] Action 通信，ActionClient 创建

[ROS] Action 通信，ActionClient 创建

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1. Action Client 完整代码

//
// Created by jacob on 12/02/20.
//


#include <iostream>
#include <ros/ros.h>

#include <actionlib/client/action_client.h>
#include <demo_action_msgs/CountNumberAction.h>

typedef actionlib::ClientGoalHandle <demo_action_msgs::CountNumberAction> GoalHandle;
typedef const demo_action_msgs::CountNumberFeedbackConstPtr FeedbackConstPtr;
typedef actionlib::ActionClient <demo_action_msgs::CountNumberAction> ActionClient;


//typedef boost::function<void (GoalHandle)> TransitionCallback;
//typedef boost::function<void (GoalHandle, const FeedbackConstPtr &)> FeedbackCallback;
void TransitionCallback(GoalHandle handle) {
    ROS_INFO_STREAM("client: TransitionCallback");

    /*
    transition: 包含了　server端响应的各个阶段的状STATE
    两张类型的 state 1. ACTIVE, 2. DONE
    可以判断出来，当前server执行阶段的过程状态(Active,Done)
    */

    const actionlib::CommState &commState = handle.getCommState();
    if (commState == commState.ACTIVE) {
        ROS_INFO_STREAM("state active.");
    } else if (commState == commState.DONE) {
        ROS_INFO_STREAM("state done.");

        //可以判断出来，当前server执行完成后，结果的状态（Result state）
        const actionlib::TerminalState &state = handle.getTerminalState();
        if (state == state.SUCCEEDED) {
            // server干完活了
            ROS_INFO_STREAM("SUCCEEDED.");
        } else if(state == state.PREEMPTED) {
            // client取消了
            ROS_INFO_STREAM("PREEMPTED.");
        } else if(state == state.ABORTED) {
            // server中断操作
            ROS_INFO_STREAM("ABORTED.");
        } else if(state == state.REJECTED) {
            // server接收到的goal存在问题
            ROS_INFO_STREAM("REJECTED.");
        }
    }
}

void FeedbackCallback(GoalHandle handle, FeedbackConstPtr &feedback) {
    ROS_INFO_STREAM("client: FeedbackCallback" << feedback->percent);
}


int main(int argc, char **argv) {

    /* 1. 初始化节点 */
    std::string nodeName = "cpp_action_client_node";
    ros::init(argc, argv, nodeName);

    /* 2. 创建节点 */
    ros::NodeHandle node;

    // 需要在子线程中运行？
    ros::AsyncSpinner spinner(1);
    spinner.start();

    /* 3. 创建 action client）*/
    std::string actionName = "/hello/action";
    ActionClient client(node, actionName);

    // 2. 等待 sever 功能启动
    client.waitForActionServerToStart();

    // 创建 goal 消息并赋值
    demo_action_msgs::CountNumberGoal goal;
    goal.max = 100;
    goal.duration = 0.1;

    // client 向 server 发送 goal消息
    /*
     * 需要创建对象进行接收，不然被销毁
    GoalHandle sendGoal(const Goal & goal,
                        TransitionCallback transition_cb = TransitionCallback(),
                        FeedbackCallback feedback_cb = FeedbackCallback())
    */
    const actionlib::ActionClient<demo_action_msgs::CountNumberAction>::GoalHandle &clientGoalHandle = client.sendGoal(
            goal,
            boost::bind(TransitionCallback, _1),
            boost::bind(FeedbackCallback, _1, _2));


    /* 4. 阻塞进程, 获得数据 */
//    ros::spin();
    ros::waitForShutdown();     // 防止整个线程结束

    return 0;
}

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2. 调试验证（与 Action Server 联调）（见 Action Server）

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*. todo