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...
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.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...
void send_goal() { using namespace std::placeholders; this->timer_->cancel(); if (!this->client_ptr_->wait_for_action_server()) { RCLCPP_ERROR(this->get_logger(), "Action server not available after waiting"); rclcpp::shutdown(); ...
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...
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...
.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...
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::ACCEPT; } void execute(const std::shared_ptr<GoalHandleFibonacci> goal_handle)...
# 导包 from rclpy.action import ActionClient ActionClient( action_type, action_name, ) # 添加等待 add_to_wait_set(wait_set) # 销毁 destroy() # 实体编号 get_num_entities() # 是否就绪 is_ready(wait_set) # 发送 send_goal(goal) # 异步发送 send_goal_async() # 检查服务端是否准备就绪...