using GoalHandleFibonacci = rclcpp_action::ClientGoalHandle<Fibonacci>; explicit FibonacciActionClient(const rclcpp::NodeOptions & options) : Node("fibonacci_action_client", options) { this->client_ptr_ = rclcpp_action::create_client<Fibonacci>( this, "fibonacci"); this->timer_ = this->create...
{public:usingFibonacci = action_tutorials_interfaces::action::Fibonacci;usingGoalHandleFibonacci = rclcpp_action::ClientGoalHandle<Fibonacci>;explicitFibonacciActionClient(constrclcpp::NodeOptions & options): Node("fibonacci_action_client", options) {this->client_ptr_ = rclcpp_action::create_client<Fibo...
client_ = this->create_client<example_ros2_interfaces::srv::MoveRobot>( "move_robot"); /*订阅机器人状态话题*/ robot_status_subscribe_ = this->create_subscription<example_ros2_interfaces::msg::RobotStatus>("robot_status", 10, std::bind(&ExampleInterfacesControl::robot_status_callback_, th...
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "usage: add_two_ints_client X Y"); return1; } std::shared_ptr<rclcpp::Node>node=rclcpp::Node::make_shared("add_two_ints_client"); rclcpp::Client<example_interfaces::srv::AddTwoInts>::SharedPtr client=node->create_client<example_interfaces...
client_ = this->create_client<example_ros2_interfaces::srv::MoveRobot>( "move_robot"); /*订阅机器人状态话题*/ robot_status_subscribe_ = this->create_subscription<example_ros2_interfaces::msg::RobotStatus>("robot_status", 10, std::bind(&ExampleInterfacesControl::robot_status_callback_, th...
super().__init__(name) # 创建客户端,使用create_client函数 # 传入参数分别是:服务数据类型、服务名称 self.client = self.create_client(AddTwoInts, "/add_two_ints") # 循环等待服务端启动 while not self.client.wait_for_service(timeout_sec=1.0): print("service not available, waiting....
Create a ROS 2 node. Get node = ros2node("/node_1"); Create an action client by specifying the node, action name, and action type. Set the quality of service (QoS) parameters. Get [client,goalMsg] = ros2actionclient(node,"fibonacci",... "action_tutorials_interfaces/Fibonacci", ...
self.get_parameter( # 优先使用外部设置的参数值,否则用默认值'source_frame').get_parameter_value().string_value self.tf_buffer = Buffer() # 创建保存坐标变换信息的缓冲区 self.tf_listener = TransformListener(self.tf_buffer, self)...
{ this->client_ptr_ = rclcpp_action::create_client<Fibonacci>( this, "fibonacci"); this->timer_ = this->create_wall_timer( std::chrono::milliseconds(500), std::bind(&FibonacciActionClient::send_goal, this)); } void send_goal() { using namespace std::placeholders; this->timer_->...
ros2 pkg create --build-type ament_cmake tutorial_interfaces tutorial_interfaces是新包的名称。注意,它是一个CMake包,目前还没有办法在纯Python包中生成.msg、.srv和.action文件。但是,可以在CMake包中创建自定义接口,然后在Python节点中使用它。