跳转到 goToPose 的源码可以发现最终发送请求是通过 self.nav_to_pose_client.send_goal_async 函数完成的,而 nav_to_pose_client 就是在 BasicNavigator 函数中定义的动作客户端,定义代码如下: self.nav_to_pose_client = ActionClient(self, NavigateToPose, 'navigate_to_pose') 保存好代码,注册该节点并重新...
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...
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...
可以看到该动作的客户端、服务端以及消息接口情况,使用指令查看 nav2_msgs/action/NavigateToPose 接口定义,命令及结果如下: ros2 interface show nav2_msgs/action/NavigateToPose --- #goal definition geometry_msgs/PoseStamped pose std_msgs/Header header ...
return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; } // 3-5.处理动作客户端发送的取消请求; rclcpp_action::CancelResponse handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<Nav>> goal_handle){ (void)goal_handle; RCLCPP_INFO(this->get_logger(),"任务取消!"); ...
# 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 ...
} 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...
在ROS 2中创建自定义action需要遵循一定的步骤。下面我将按照你的提示,分点详细解答如何创建自定义action。 1. 定义ROS2 action的目标、反馈和结果消息结构 首先,你需要定义action的目标(goal)、反馈(feedback)和结果(result)消息结构。这通常涉及到在action目录下创建.action文件。 plaintext # ExampleAction.action...
if (goal->order > 9000) { return rclcpp_action::GoalResponse::REJECT; } return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; } rclcpp_action::CancelResponse handle_cancel( const std::shared_ptrgoal_handle) { RCLCPP_INFO(rclcpp::get_logger("server"), "Got request to cancel goal"); ...