this->client_ptr_->async_send_goal(goal_msg, send_goal_options); } private: rclcpp_action::Client<Fibonacci>::SharedPtr client_ptr_; rclcpp::TimerBase::SharedPtr timer_; void goal_response_callback(std::shared_future<GoalHandleFibonacci::SharedPtr> future) { auto goal_handle = future.get...
return rclcpp_action::CancelResponse::ACCEPT; } // 3-7.新线程产生连续反馈并响应最终结果。 void execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<Nav>> goal_handle){ RCLCPP_INFO(this->get_logger(),"开始执行任务..."); // 解析目标值 float goal_x = goal_handle->get_goal()->goal...
self.send_goal_timer_ = self.create_timer(1, self.send_goal) 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_as...
goal_callback = self.goal_callback,#handle_accepted_callback=self.handle_accepted_callback,cancel_callback = self.cancel_callback ) 3. execute_callback(self,goal_handle): 生成连续feedback和最终result,主逻辑。 有几个常用的属性: goal_handle.request.(对应action文件中的request) goal_handle.publis...
(void)goal_handle; robot.stop_move(); /*认可取消执行,让机器人停下来*/ return rclcpp_action::CancelResponse::ACCEPT; } void execute_move(const std::shared_ptr<GoalHandleMoveRobot> goal_handle) { const auto goal = goal_handle->get_goal(); RCLCPP_INFO(this->get_logger(), "开始执行移动...
.or(async { smol::Timer::after(Duration::from_secs(5)).await; println!(">>> No goal response. Is action server running?"); Err(rustdds::dds::Error::MustBlock ) Err(WriteError::WouldBlock { data: () }.into()) }).await { Ok((goal_id, goal_response)) => { Expand Down 13...
send_goal_async 发送目标并异步获取结果。 当行动服务器确认收到目标时,返回的 Future 结果将被设置为 ClientGoalHandle。 server_is_ready 检查是否有行动服务器准备处理该客户端的请求。 take_data 从下层取走东西,以免等待组立即再次醒来。 wait_for_server 等待一个 action server 准备就绪。 当动作...
ROS1中常用的client.call(srv)方式不再被ROS2支持,转而使用client->async_send_request(rquest)的异步方式。这种方式会返回一个std::future类型的变量用于检测是否已经获得回应。 在实际移植过程中发现,一个常见的使用场景:client在原地阻塞式的等待request结果将会造成死锁。原...
{RCLCPP_INFO(this->get_logger(),"Received goal request with order %d", goal->order); (void)uuid;returnrclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; } 这个实现仅仅接收目标。 处理取消的回调函数: rclcpp_action::CancelResponsehandle_cancel(conststd::shared_ptr<GoalHandleFibonacci> goal_handle)...
rclcpp_action::CancelResponse handle_cancel( const std::shared_ptrgoal_handle) { RCLCPP_INFO(rclcpp::get_logger("server"), "Got request to cancel goal"); (void)goal_handle; return rclcpp_action::CancelResponse::ACCEPT; } void execute( ...