python机器人开发教程_ROS与Python入门教程-actionlib-开发简单的action服务端

ROS与Python入门教程-actionlib-开发简单的action服务端

说明

使用simple_action_server库创建Python的Fibonacci(斐波那契数列)action服务端

计算Fibonacci数列的顺序，得到计算后的数列

介绍

actionlib_tutorials/simple_action_servers/fibonacci_server.py

代码

#! /usr/bin/env python

import roslib; roslib.load_manifest('actionlib_tutorials')

import rospy

import actionlib

import actionlib_tutorials.msg

class FibonacciAction(object):

# create messages that are used to publish feedback/result

_feedback = actionlib_tutorials.msg.FibonacciFeedback()

_result = actionlib_tutorials.msg.FibonacciResult()

def __init__(self, name):

self._action_name = name

self._as = actionlib.SimpleActionServer(self._action_name, actionlib_tutorials.msg.FibonacciAction, execute_cb=self.execute_cb, auto_start = False)

self._as.start()

def execute_cb(self, goal):

# helper variables

r = rospy.Rate(1)

success = True

# append the seeds for the fibonacci sequence

self._feedback.sequence = []

self._feedback.sequence.append(0)

self._feedback.sequence.append(1)

# publish info to the console for the user

rospy.loginfo('%s: Executing, creating fibonacci sequence of order %i with seeds %i, %i' % (self._action_name, goal.order, self._feedback.sequence[0], self._feedback.sequence[1]))

# start executing the action

for i in xrange(1, goal.order):

# check that preempt has not been requested by the client

if self._as.is_preempt_requested():

rospy.loginfo('%s: Preempted' % self._action_name)

self._as.set_preempted()

success = False

break

self._feedback.sequence.append(self._feedback.sequence[i] + self._feedback.sequence[i-1])

# publish the feedback

self._as.publish_feedback(self._feedback)

# this step is not necessary, the sequence is computed at 1 Hz for demonstration purposes

r.sleep()

if success:

self._result.sequence = self._feedback.sequence

rospy.loginfo('%s: Succeeded' % self._action_name)

self._as.set_succeeded(self._result)

if __name__ == '__main__':

rospy.init_node('fibonacci')

FibonacciAction(rospy.get_name())

rospy.spin()

代码分析

代码：import actionlib

分析：导入actionlib库

代码：import actionlib_tutorials.msg

分析：导入生成的消息，action会生成用于发送目标，接受反馈的消息。

代码：

self._as = actionlib.SimpleActionServer(self._action_name, actionlib_tutorials.msg.FibonacciAction, execute_cb=self.execute_cb, auto_start = False)

self._as.start()

分析：SimpleActionServer创建服务端，需4个参数：action_name、action type、callback函数（可选）、auto_start

代码：

def execute_cb(self, goal):

r = rospy.Rate(1)

success = True

# append the seeds for the fibonacci sequence

self._feedback.sequence = []

self._feedback.sequence.append(0)

self._feedback.sequence.append(1)

# publish info to the console for the user

rospy.loginfo('%s: Executing, creating fibonacci sequence of order %i with seeds %i, %i' % (self._action_name, goal.order, self._feedback.sequence[0], self._feedback.sequence[1]))

分析：定义回调函数，当新目标到达，rospy.loginfo 输出相关信息，可知道正在执行的action.

代码：

# start executing the action

for i in xrange(1, goal.order):

# check that preempt has not been requested by the client

if self._as.is_preempt_requested():

rospy.loginfo('%s: Preempted' % self._action_name)

self._as.set_preempted()

success = False

分析：

action服务端重要功能是可以让action客户端可以取消请求。

当客户端替换了目标，服务器端应该取消目标，执行清除，调用set_preempted。

服务端会每秒执行检测客户端是否取消。

代码：

self._feedback.sequence.append(self._feedback.sequence[i] + self._feedback.sequence[i-1])

# publish the feedback

self._as.publish_feedback(self._feedback)

分析：Fibonacci 数列放入反馈变量里，发布反馈。

代码：

if success:

self._result.sequence = self._feedback.sequence

rospy.loginfo('%s: Succeeded' % self._action_name)

self._as.set_succeeded(self._result)

分析：当服务器端完成计算，调用set_succeeded通知客户端，目标已经完成。

启动服务器端

python fibonacci_server.py