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....
auto goal_handle_future = action_client->async_send_goal(goal_msg); if (rclcpp::spin_until_future_complete(node, goal_handle_future) != rclcpp::executor::FutureReturnCode::SUCCESS) { RCLCPP_ERROR(node->get_logger(), "send goal call failed :("); return 1; } rclcpp_action::ClientGoal...
auto goal_msg = Fibonacci::Goal(); goal_msg.order = 10; RCLCPP_INFO(node->get_logger(), "Sending goal"); // Ask server to achieve some goal and wait until it's accepted auto goal_handle_future = action_client->async_send_goal(goal_msg); if (rclcpp::spin_until_future_complete(no...
auto goal_handle_future = this->client_ptr_->async_send_goal(goal_msg, send_goal_options); } private: rclcpp_action::Client<Fibonacci>::SharedPtr client_ptr_; rclcpp::TimerBase::SharedPtr timer_; bool goal_done_; void goal_response_callback(std::shared_future<GoalHandleFibonacci::SharedP...
); } RCLCPP_INFO(this->get_logger(), "自主探索服务器已启动"); // 发送自主探索目标 auto goal = nav2_msgs::action::Explore::Goal(); explore_client_->async_send_goal( goal, std::bind(&自主探索节点::goal_response_callback, this, std::placeholders::_1), std::bind(&...
def send_goal(self): """发送目标""" self.send_goal_timer_.cancel() goal_msg = MoveRobot.Goal() goal_msg.distance = 5.0 self.action_client_.wait_for_server() self._send_goal_future = self.action_client_.send_goal_async(goal_msg, ...
{public:usingFibonacci = action_tutorials_interfaces::action::Fibonacci;usingGoalHandleFibonacci = rclcpp_action::ServerGoalHandle<Fibonacci>;ACTION_TUTORIALS_CPP_PUBLICexplicitFibonacciActionServer(constrclcpp::NodeOptions & options = rclcpp::NodeOptions()): Node("fibonacci_action_server", options) ...
// We send the request with the transition we want to invoke. auto future_result = client_change_state_->async_send_request(request); // Let's wait until we have the answer from the node. // If the request times out, we return an unknown state. ...
三、在 Python 中使用 nav2_simple_commander 库进行导航 安装与配置：确保已安装 nav2_simple_commander 库。 关键函数： 发布目标：通过调用 self.nav_to_pose_client.send_goal_async 函数实现发送请求。 获取状态反馈：用于实时获取导航过程中的状态信息。 取消任务：用于在需要时取消导航...
Actions are a form of asynchronous communication in ROS. Action clients send goal requests to action servers. Action servers send goal feedback and results to action clients. For more detailed information about ROS actions, please refer to the design article. ...