super().__init__('progress_action_client') # 创建动作客户端 self._action_client = Action_Client(self, Progress, 'get_sum') def send_goal(self, num): # 发送请求 goal_msg = Progress.Goal() goal_msg.num = num self._action_client.wait_for_server() self._send_goal_future = self._...
init_node("action_client") client = actionlib.SimpleActionClient("addInts",addIntsAction) # 创建action Client对象 client.wait_for_server() goal_obj = addIntsGoal() # 创建目标对象 goal_obj.num=10 client.send_goal(goal_obj,done_cb,active_cb,fb_cb) # 三个回调函数:最终结果回调,服务...
ROS 2 使用IDL(Interface Definition Language)来描述message、services和action的数据接口。IDL这一描述方式可以使得ROS工具自动生成接口源码。 三种接口对应的IDL描述如下: Publisher-SubscriberServer-ClientAction message service action .msg .srv .action 2. Message description specification 2.1. Fields 每个field由一...
[client,goalMsg] = ros2actionclient(node,"fibonacci",..."action_tutorials_interfaces/Fibonacci",...CancelServiceQoS=struct(Depth=200,History="keeplast"),...FeedbackTopicQoS=struct(Depth=200,History="keepall")); Wait for the action client to connect to the server. ...
,result message必须发送出去。 4actionserver和actionclient状态机箭头上的蓝色字是一些命令,server端user code也可以通过命令触发,白色的框由...和ActionServer给用户提供了一些简单的接口,用户使用这些接口可以完成goal请求(client边)和goal执行(server边)。ActionClient和ActionServer的 ...
(argc, argv, "action_client"); actionlib::SimpleActionClient<action::Action1Action> ac("testaction", true); ROS_INFO("Waiting for action server to start"); ac.waitForServer(); ROS_INFO("Action server started, sending goal"); action::Action1Goal goal; goal.order = 30; ac.sendGoal(...
Pending- The goal has yet to be processed by the action server Active- The goal is currently being processed by the action server Recalling- The goal has not been processed and a cancel request has been received from the action client, but the action server has not confirmed the goal is ...
I have a roscpp node that has an actionlib SimpleActionClient. During start up, my node calls ac.waitForServer(). This sometimes hangs indefinitely, sometimes it just takes several minutes, despite the ROS node serving the action already being up. The debug output of the ros.actionlib.Connect...
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。
self._grasps_ac=SimpleActionClient(/moveit_simple_grasps_server/ generate,GenerateGraspsAction) ifnotself._grasps_ac.wait_for_server(rospy.Duration(5.0)): rospy.logerr(Graspgeneratoractionclientnotavailable!) rospy.signal_shutdown(Graspgeneratoractionclientnotavailable!) ...