动作编程:客户端发送一个运动目标,模拟机器人运动到目标位置的过程,包含服务端和客户端的代码实现,要求带有实时位置反馈
一、在工作空间下创建功能包
cd ~/catkin_ws/src
catkin_create_pkg learn_action std_msgs rospy roscpp actionlib actionlib.msgs
二、在创建的功能包learn_action的src目录下创建CPP文件
TurtleMove_client.cpp:
#include <actionlib/client/simple_action_client.h>
#include "learn_action/TurtleMoveAction.h"
#include <turtlesim/Pose.h>
#include <turtlesim/Spawn.h>
#include <geometry_msgs/Twist.h>
typedef actionlib::SimpleActionClient<learn_action::TurtleMoveAction> Client;
struct Myturtle
{
float x;
float y;
float theta;
}turtle_present_pose;
// 当action完成后会调用该回调函数一次
void doneCb(const actionlib::SimpleClientGoalState& state,
const learn_action::TurtleMoveResultConstPtr& result)
{
ROS_INFO("Yay! The TurtleMove is finished!");
ros::shutdown();
}
// 当action激活后会调用该回调函数一次
void activeCb()
{
ROS_INFO("Goal just went active");
}
// 收到feedback后调用该回调函数
void feedbackCb(const learn_action::TurtleMoveFeedbackConstPtr& feedback)
{
ROS_INFO(" present_pose : %f %f %f", feedback->present_turtle_x,
feedback->present_turtle_y,feedback->present_turtle_theta);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "TurtleMove_client");
// 定义一个客户端
Client client("TurtleMove", true);
// 等待服务器端
ROS_INFO("Waiting for action server to start.");
client.waitForServer();
ROS_INFO("Action server started, sending goal.");
// 创建一个action的goal
learn_action::TurtleMoveGoal goal;
goal.turtle_target_x = 1;
goal.turtle_target_y = 1;
goal.turtle_target_theta = 0;
// 发送action的goal给服务器端,并且设置回调函数
client.sendGoal(goal, &doneCb, &activeCb, &feedbackCb);
ros::spin();
return 0;
}
TurtleMove_server.cpp:
/*
此程序通过通过动作编程实现由client发布一个目标位置
然后控制Turtle运动到目标位置的过程
*/
#include <ros/ros.h>
#include <actionlib/server/simple_action_server.h>
#include "learn_action/TurtleMoveAction.h"
#include <turtlesim/Pose.h>
#include <turtlesim/Spawn.h>
#include <geometry_msgs/Twist.h>
typedef actionlib::SimpleActionServer<learn_action::TurtleMoveAction> Server;
struct Myturtle
{
float x;
float y;
float theta;
}turtle_original_pose,turtle_target_pose;
ros::Publisher turtle_vel;
void posecallback(const turtlesim::PoseConstPtr& msg)
{
ROS_INFO("Turtle1_position:(%f,%f,%f)",msg->x,msg->y,msg->theta);
turtle_original_pose.x=msg->x;
turtle_original_pose.y=msg->y;
turtle_original_pose.theta=msg->theta;
}
// 收到action的goal后调用该回调函数
void execute(const learn_action::TurtleMoveGoalConstPtr& goal, Server* as)
{
learn_action::TurtleMoveFeedback feedback;
ROS_INFO("TurtleMove is working.");
turtle_target_pose.x=goal->turtle_target_x;
turtle_target_pose.y=goal->turtle_target_y;
turtle_target_pose.theta=goal->turtle_target_theta;
geometry_msgs::Twist vel_msgs;
float break_flag;
while(1)
{
ros::Rate r(10);
vel_msgs.angular.z = 4.0 * (atan2(turtle_target_pose.y-turtle_original_pose.y,
turtle_target_pose.x-turtle_original_pose.x)-turtle_original_pose.theta);
vel_msgs.linear.x = 0.5 * sqrt(pow(turtle_target_pose.x-turtle_original_pose.x, 2) +
pow(turtle_target_pose.y-turtle_original_pose.y, 2));
break_flag=sqrt(pow(turtle_target_pose.x-turtle_original_pose.x, 2) +
pow(turtle_target_pose.y-turtle_original_pose.y, 2));
turtle_vel.publish(vel_msgs);
feedback.present_turtle_x=turtle_original_pose.x;
feedback.present_turtle_y=turtle_original_pose.y;
feedback.present_turtle_theta=turtle_original_pose.theta;
as->publishFeedback(feedback);
ROS_INFO("break_flag=%f",break_flag);
if(break_flag<0.1) break;
r.sleep();
}
// 当action完成后,向客户端返回结果
ROS_INFO("TurtleMove is finished.");
as->setSucceeded();
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "TurtleMove_server");
ros::NodeHandle n,turtle_node;
ros::Subscriber sub = turtle_node.subscribe("turtle1/pose",10,&posecallback); //订阅小乌龟的位置信息
turtle_vel = turtle_node.advertise<geometry_msgs::Twist>("turtle1/cmd_vel",10);//发布控制小乌龟运动的速度
// 定义一个服务器
Server server(n, "TurtleMove", boost::bind(&execute, _1, &server), false);
// 服务器开始运行
server.start();
ROS_INFO("server has started.");
ros::spin();
return 0;
}
三、创建action文件
在功能包下创建action文件夹
文件夹内创建TurtleMove.action文件
TurtleMove.action内容:
# Define the goal
float64 turtle_target_x # Specify Turtle's target position
float64 turtle_target_y
float64 turtle_target_theta
---
# Define the result
float64 turtle_final_x
float64 turtle_final_y
float64 turtle_final_theta
---
# Define a feedback message
float64 present_turtle_x
float64 present_turtle_y
float64 present_turtle_theta
四、在CmakeLists.txt文件中添加依赖
找到对应的地方做如下修改:
然后在文件末尾添加依赖项:
add_executable(TurtleMove_client src/TurtleMove_client.cpp)
target_link_libraries(TurtleMove_client ${catkin_LIBRARIES})
add_dependencies(TurtleMove_client ${PROJECT_NAME}_gencpp)
add_executable(TurtleMove_server src/TurtleMove_server.cpp)
target_link_libraries(TurtleMove_server ${catkin_LIBRARIES})
add_dependencies(TurtleMove_server ${PROJECT_NAME}_gencpp)
修改package文件,添加如下代码:
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
如下图:
五、编译程序
cd ~/catkin_ws
catkin_make
六、运行程序
新建终端,启动ROS核心程序
roscore
运行小海龟程序节点
rosrun turtlesim turtlesim.node
运行TurtleMove_server.cpp
source ./devel/setup.bash
rosrun learn_action TurtleMove_server
运行TurtleMove_client.cpp
source ./devel/setup.bash
rosrun learn_action TurtleMove_client
运行结果如下: