ROS 消息订阅 状态同步 action 行为通讯方式

理解行为:

在执行一些耗时短的任务时没有问题，

在执行一些耗时长的任务如让机器人从大厅的A点移动至B点时，服务会造成线程的阻塞，

为了解决这一问题，ROS提供了行为执行耗时长的异步行为。

行为的组织:

ROS的行为由后缀为action的资源文件定义，放置在action目录下

行为文件包含: 

goal、result、feedback三部分的内容。三者之间通过“---”隔开。一个action文件的示例如下：

#goal
int32 total

 --- 

#result
int32 sum

--- 

#feedback

goal：任务目标

cancel：请求取消任务

status：通知client当前的状态

feedback：周期反馈任务运行的监控数据

result：向client发送任务的执行结果，这个只会发布一次

Action行为的实现:

当执行行为时，首先ActionClient发送“goal”请求给ActionServer，

一旦ActionServer收到“goal”请求，

ActionServer就为该“goal”请求创建一个状态机来跟踪其状态转换。

然后ActionServer发送“feedback”消息给ActionClient反馈行为进度，

当任务完成或ActionClient发送取消请求后，

ActionServer发送“result”消息给ActionClient，

需注意的是，“result”消息只能发送一次。

Action行为的实现:

在实现行为时，要考虑连接的时延和状态的可用性。

客户端方法：

void sendGoal(const Goal & goal,
 SimpleDoneCallback done_cb = SimpleDoneCallback(),
 SimpleActiveCallback active_cb = SimpleActiveCallback(), 
SimpleFeedbackCallback feedback_cb = SimpleFeedbackCallback());
bool waitForServer(const ros::Duration & timeout = ros::Duration(0, 0) )



#  发送目标
#  等待反馈
#  等待激活
#  结果发送给客户端

服务端方法：

void publishFeedback(const Feedback & feedback)
bool isPreemptRequested();
void setSucceeded(const Result & result = Result(), const std::string & text std::string(""));

行为的实现：

Action行为本质上是基于消息的发布/订阅实现的一种通信机制

//ActionServer的实现

class ActionServer : public ActionServerBase

{ ......
ros::NodeHandle node_;
ros::Subscriber goal_sub_, cancel_sub_;
ros::Publisher status_pub_, result_pub_, feedback_pub_;
ros::Timer status_timer_;
}

//结果和反馈的发布

result_pub_ = node_.advertise("result", static_cast(pub_queue_size)); 
feedback_pub_ =node_.advertise("feedback", static_cast(pub_queue_size));


# 形成队列

自定义行为步骤：    

编译执行 action依赖于actionlib、actionlib_msgs程序包。

跑步例子实例：

步骤1 创建自定义行为.action

#goal
int32 total
---
#result
int32 sum
---
#feedback
int32 number



# 总目标
# 最终跑了多少
# 正在跑多少

步骤2 编写客户端文件 .client

#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>

#include "example_5/RunningAction.h"

void doneCb(const actionlib::SimpleClientGoalState& state,
            const example_5::RunningResultConstPtr& result){
   ROS_INFO("the runing are now finished! the sum is %d",result->sum);
}

void activeCb()
{
  ROS_INFO("Goal just went active");
}

void feedbackCb(const example_5::RunningFeedbackConstPtr& feedback){
    ROS_INFO("running number is :%d",feedback->number);               
}



int main (int argc, char **argv)
{
  ros::init(argc, argv, "running_client");

  actionlib::SimpleActionClient<example_5::RunningAction> actionClient("running", true);
  //SimpleActionClient 实例子选择


  ROS_INFO("Waiting for action server to start.");
  actionClient.waitForServer(); //will wait for infinite time等待响应

  ROS_INFO("Action server started, sending goal.");
  example_5::RunningGoal goal;
  goal.total = 20;             //跑了20步
  actionClient.sendGoal(goal,&doneCb,&activeCb,&feedbackCb);
  //wait 50s
  bool finished_before_timeout = actionClient.waitForResult(ros::Duration(50.0));
  if (finished_before_timeout)  //如果超时
  {
    actionlib::SimpleClientGoalState state = actionClient.getState();
    ROS_INFO("Action finished: %s",state.toString().c_str());
  }                              //如果没超时
  else{
    actionClient.cancelGoal();
    ROS_INFO("Action did not finish before the time out.");
  }

  return 0;
}

步骤3 编写服务文件  .service

#include <ros/ros.h>
#include <actionlib/server/simple_action_server.h>
#include <example_5/RunningAction.h>

class RunningAction
{
protected:

  ros::NodeHandle nh_;
  // NodeHandle instance must be created before this line. Otherwise strange error occurs.
  actionlib::SimpleActionServer<example_5::RunningAction> actionServer;
  std::string action_name_;
  // create messages that are used to published feedback/result
  example_5::RunningFeedback actionFeedback;
  example_5::RunningResult actionResult;

public:

  RunningAction(std::string name):                          // 绑定回调目标和循环
    actionServer(nh_, name, boost::bind(&RunningAction::executeCB, this, _1), false), 
    action_name_(name)
  {
    actionServer.start();
  }

  ~RunningAction(void)
  {
  }

  void executeCB(const example_5::RunningGoalConstPtr &goal)
  {
    // helper variables
    ros::Rate r(1);
    bool success = true;
    // start executing the action
    for(int i=1; i<=goal->total; i++)            // 判断是否被抢占了
    {
      // check that preempt has not been requested by the client
      if (actionServer.isPreemptRequested() || !ros::ok())
      {
        ROS_INFO("%s: Preempted", action_name_.c_str());
        // set the action state to preempted
        actionServer.setPreempted();
        success = false;
        break;
      }
      actionFeedback.number++;
      // publish the feedback
      actionServer.publishFeedback(actionFeedback);
      ROS_INFO("Executing, creating %i of total %i",actionFeedback.number,goal->total);
      r.sleep();
    }

    if(success)
    {
      actionResult.sum = actionFeedback.number;
      ROS_INFO("%s: Succeeded", action_name_.c_str());
      // set the action state to succeeded
      actionServer.setSucceeded(actionResult);
    }
  }

};





int main(int argc, char** argv)
{
  ros::init(argc, argv, "running_server");

  RunningAction running("running");
  ros::spin();

  return 0;
}

步骤4 package.xml、CMakeLists.txt配置

cmake_minimum_required(VERSION 3.0.2)
project(example_5)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  actionlib
  actionlib_msgs
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
add_action_files(
   FILES
   Running.action
)

## Generate added messages and services with any dependencies listed here
generate_messages(
   DEPENDENCIES
   std_msgs
   actionlib_msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES example_5
   CATKIN_DEPENDS roscpp rospy std_msgs actionlib_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/example_5.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/example_5_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )
if(CMAKE_BUILD_TYPE STREQUAL DEBUG)
add_executable(action_service src/service.cpp)
add_executable(action_client src/client.cpp)
target_link_libraries(action_service
   ${catkin_LIBRARIES}
)
target_link_libraries(action_client
   ${catkin_LIBRARIES}
)
endif()
#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_example_5.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

PS：需要注意的亮点

 

package.xml

<?xml version="1.0"?>
<package format="2">
  <name>example_5</name>
  <version>0.0.0</version>
  <description>The example_5 package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="miaozl@todo.todo">miaozl</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>D</license>
  <license>O</license>
  <license>O</license>
  <license>T</license>


  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/example_5</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, but could be -->
  <!-- Example: -->
  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->


  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>actionlib_msgs</build_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <build_export_depend>actionlib_msgs</build_export_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>message_generation</exec_depend>

  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

步骤5 生成行为头文件，编译