action_msgs/srv/CancelGoal composition_interfaces/srv/ListNodes composition_interfaces/srv/LoadNode composition_interfaces/srv/UnloadNode diagnostic_msgs/srv/AddDiagnostics map_msgs/srv/GetMapROI map_msgs/srv/GetPointMap visualization_msgs/srv/GetInteractiveMarkers ...
self._action_client.wait_for_server()self.send_goal_future=self._action_client.send_goal_async(goal_msg,feedback_callback=self.feedback_callback)self.send_goal_future.add_done_callback(self.goal_response_callback)defgoal_response_callback(self,future):goal_handle=future.result()ifnotgoal_han...
上节我们再C++中结合RCLCPP和RCLCPPACTION库实现了Action通信,本节我们利用RCLPY在Python中实现相同的功能。 1.创建功能包和节点 1.1 创建功能包 cd chapt4_ws/ ros2 pkg create example_action_rclpy --build-type ament_python --dependencies rclpy robot_control_interfaces --destination-directory src --node-n...
this, _1));}private:rclcpp_action::Server<Concatenate>::SharedPtr actionServer_;rclcpp_action::GoalResponse HandleGoal(const rclcpp_action::GoalUUID & uuid,std::shared_ptr<const Concatenate::Goal> goal);rclcpp_action::CancelResponse HandleCancel(const std::shared_ptr<Goal...
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._action_client.send_goal_async(goal_msg, feedback_callback=self...
return GoalResponse.ACCEPT def cancel_callback(self, goal_handle): # Accepts or rejects a client request to cancel an action self.get_logger().info('Received cancel request :(') return CancelResponse.ACCEPT async def execute_callback(self, goal_handle): ...
# python:self._action_server = ActionServer( self, 动作接口类型,'动作名', execute_callback = self.execute_callback, goal_callback = self.goal_callback,#handle_accepted_callback=self.handle_accepted_callback,cancel_callback = self.cancel_callback ...
在ROS 2(Robot Operating System 2)中,自定义接口通常涉及创建消息(.msg)、服务(.srv)或动作(.action)文件,这些文件定义了节点之间通信的数据结构。以下是基于你的提示,关于如何在ROS 2中创建自定义接口的详细步骤: 1. 确定ROS2自定义接口的需求和功能 首先,明确你需要通过接口传递哪些数据。这可以是简单的数据...
send_goal_options.result_callback = std::bind(&MinimalActionClient::result_callback, this, _1); auto goal_handle_future = this->client_ptr_->async_send_goal(goal_msg, send_goal_options); } private: rclcpp_action::Client<Fibonacci>::SharedPtr client_ptr_; ...
} return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; } rclcpp_action::CancelResponse handle_cancel( const std::shared_ptr<GoalHandleFibonacci> goal_handle) { RCLCPP_INFO(this->get_logger(), "Received request to cancel goal"); (void)goal_handle; return rclcpp_action::CancelResponse::ACCE...