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首先进行功能包的创建
mkdir -p ros2_ws/src
cd ros2_ws/src
ros2 pkg create action_tutorials_interfaces
action消息的类型
# Request
---
# Result
---
# Feedback
动作定义由三个消息定义组成#xff0c;以---分隔。
从动作客户机向动作服务器发送…
action消息的构建
首先进行功能包的创建
mkdir -p ros2_ws/src
cd ros2_ws/src
ros2 pkg create action_tutorials_interfaces
action消息的类型
# Request
---
# Result
---
# Feedback
动作定义由三个消息定义组成以---分隔。
从动作客户机向动作服务器发送请求消息以启动新目标。当目标完成时从动作服务器向动作客户端发送结果消息。反馈消息周期性地从动作服务器发送到动作客户端其中包含关于目标的更新。
创建消息
cd action_tutorials_interfaces
mkdir action
创建一个Fibonacci.action文件指定action的消息
int32 order
---
int32[] sequence
---
int32[] partial_sequence
编译消息
在我们可以在代码中使用新的Fibonacci动作类型之前我们必须将定义传递给Rosidl代码生成管道。这可以通过在CMakeLists.txt中的ament_package行之前添加以下行来实现即action_tutorials_interfaces中的行
CMAkeLists.txt文件进行修改
find_package(rosidl_default_generators REQUIRED)rosidl_generate_interfaces(${PROJECT_NAME}action/Fibonacci.action
)
xml文件进行修改
buildtool_dependrosidl_default_generators/buildtool_dependdependaction_msgs/dependmember_of_grouprosidl_interface_packages/member_of_group
在这里action文件就算是生成了
action_server进行使用
进行action使用的功能包的创建
os2 pkg create --dependencies action_tutorials_interfaces rclcpp rclcpp_action rclcpp_components -- action_tutorials_cpp
action_tutorials_interfaces rclcpp rclcpp_action rclcpp_components为该功能包的相关依赖
windows编译
为了使软件包能够在Windows上编译和工作我们需要添加一些“可见性控制”。有关详细信息请参见Windows提示和技巧文档中的Windows符号可见性。 打开action_tutorials_cpp/include/action_tutorials_cpp/visibility_control.h并将以下代码放入
#ifndef ACTION_TUTORIALS_CPP__VISIBILITY_CONTROL_H_
#define ACTION_TUTORIALS_CPP__VISIBILITY_CONTROL_H_#ifdef __cplusplus
extern C
{
#endif// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
// https://gcc.gnu.org/wiki/Visibility#if defined _WIN32 || defined __CYGWIN__#ifdef __GNUC__#define ACTION_TUTORIALS_CPP_EXPORT __attribute__ ((dllexport))#define ACTION_TUTORIALS_CPP_IMPORT __attribute__ ((dllimport))#else#define ACTION_TUTORIALS_CPP_EXPORT __declspec(dllexport)#define ACTION_TUTORIALS_CPP_IMPORT __declspec(dllimport)#endif#ifdef ACTION_TUTORIALS_CPP_BUILDING_DLL#define ACTION_TUTORIALS_CPP_PUBLIC ACTION_TUTORIALS_CPP_EXPORT#else#define ACTION_TUTORIALS_CPP_PUBLIC ACTION_TUTORIALS_CPP_IMPORT#endif#define ACTION_TUTORIALS_CPP_PUBLIC_TYPE ACTION_TUTORIALS_CPP_PUBLIC#define ACTION_TUTORIALS_CPP_LOCAL
#else#define ACTION_TUTORIALS_CPP_EXPORT __attribute__ ((visibility(default)))#define ACTION_TUTORIALS_CPP_IMPORT#if __GNUC__ 4#define ACTION_TUTORIALS_CPP_PUBLIC __attribute__ ((visibility(default)))#define ACTION_TUTORIALS_CPP_LOCAL __attribute__ ((visibility(hidden)))#else#define ACTION_TUTORIALS_CPP_PUBLIC#define ACTION_TUTORIALS_CPP_LOCAL#endif#define ACTION_TUTORIALS_CPP_PUBLIC_TYPE
#endif#ifdef __cplusplus
}
#endif#endif // ACTION_TUTORIALS_CPP__VISIBILITY_CONTROL_H_
创建server文件
#include functional
#include memory
#include thread#include action_tutorials_interfaces/action/fibonacci.hpp
#include rclcpp/rclcpp.hpp
#include rclcpp_action/rclcpp_action.hpp
#include rclcpp_components/register_node_macro.hpp#include action_tutorials_cpp/visibility_control.hnamespace action_tutorials_cpp
{// 进行节点的创建
class FibonacciActionServer : public rclcpp::Node
{
public:// 声明数据类型using Fibonacci action_tutorials_interfaces::action::Fibonacci;using GoalHandleFibonacci rclcpp_action::ServerGoalHandleFibonacci;ACTION_TUTORIALS_CPP_PUBLICexplicit FibonacciActionServer(const rclcpp::NodeOptions options rclcpp::NodeOptions()): Node(fibonacci_action_server, options){using namespace std::placeholders;// 创建对应的服务this-action_server_ rclcpp_action::create_serverFibonacci(this,fibonacci,// 用于处理目标的回调函数std::bind(FibonacciActionServer::handle_goal, this, _1, _2),// 用于处理取消的回调函数std::bind(FibonacciActionServer::handle_cancel, this, _1),// 用于处理目标接受的回调函数std::bind(FibonacciActionServer::handle_accepted, this, _1));}private:rclcpp_action::ServerFibonacci::SharedPtr action_server_;rclcpp_action::GoalResponse handle_goal(const rclcpp_action::GoalUUID uuid,std::shared_ptrconst Fibonacci::Goal goal){RCLCPP_INFO(this-get_logger(), Received goal request with order %d, goal-order);(void)uuid;return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;}rclcpp_action::CancelResponse handle_cancel(const std::shared_ptrGoalHandleFibonacci goal_handle){RCLCPP_INFO(this-get_logger(), Received request to cancel goal);(void)goal_handle;return rclcpp_action::CancelResponse::ACCEPT;}void handle_accepted(const std::shared_ptrGoalHandleFibonacci goal_handle){using namespace std::placeholders;// this needs to return quickly to avoid blocking the executor, so spin up a new threadstd::thread{std::bind(FibonacciActionServer::execute, this, _1), goal_handle}.detach();}void execute(const std::shared_ptrGoalHandleFibonacci goal_handle){RCLCPP_INFO(this-get_logger(), Executing goal);rclcpp::Rate loop_rate(1);const auto goal goal_handle-get_goal();auto feedback std::make_sharedFibonacci::Feedback();auto sequence feedback-partial_sequence;sequence.push_back(0);sequence.push_back(1);auto result std::make_sharedFibonacci::Result();for (int i 1; (i goal-order) rclcpp::ok(); i) {// Check if there is a cancel requestif (goal_handle-is_canceling()) {result-sequence sequence;goal_handle-canceled(result);RCLCPP_INFO(this-get_logger(), Goal canceled);return;}// Update sequencesequence.push_back(sequence[i] sequence[i - 1]);// Publish feedbackgoal_handle-publish_feedback(feedback);RCLCPP_INFO(this-get_logger(), Publish feedback);loop_rate.sleep();}// Check if goal is doneif (rclcpp::ok()) {result-sequence sequence;goal_handle-succeed(result);RCLCPP_INFO(this-get_logger(), Goal succeeded);}}
}; // class FibonacciActionServer} // namespace action_tutorials_cppRCLCPP_COMPONENTS_REGISTER_NODE(action_tutorials_cpp::FibonacciActionServer) 几个关键的数据类型
ClientGoalHandle
用于与客户端发送过来的目标进行交互。可以使用此类检查目标的状态和结果这个类不是通过用户创建的而是在目标进行接受。 // 使用这个类去检查goal 的状态和这个结果并不意味着被用户创建当一个用户的goal被接受的时候才能被创建
templatetypename ActionT
class ServerGoalHandle : public ServerGoalHandleBase
{
public:
// 发送一个更新数据处理真个进行关于goal目标的
// 这个函数只能当goal被调用的时候才能被调用
// voidpublish_feedback(std::shared_ptrtypename ActionT::Feedback feedback_msg){auto feedback_message std::make_sharedtypename ActionT::Impl::FeedbackMessage();feedback_message-goal_id.uuid uuid_;feedback_message-feedback *feedback_msg;publish_feedback_(feedback_message);}
// 当goal无法达到并且已中止。
// 只有当goal正在执行但无法完成时才调用此函数。
// 这是一个终端状态在这之后不应该再对目标句柄调用任何方法
// param[in]result_msg要发送给客户端的最终结果。voidabort(typename ActionT::Result::SharedPtr result_msg){_abort();auto response std::make_sharedtypename ActionT::Impl::GetResultService::Response();response-status action_msgs::msg::GoalStatus::STATUS_ABORTED;response-result *result_msg;on_terminal_state_(uuid_, response);}/// 当这个goal执行成功的时候执行
// param[in] result_msg the final result to send to clients.voidsucceed(typename ActionT::Result::SharedPtr result_msg){_succeed();auto response std::make_sharedtypename ActionT::Impl::GetResultService::Response();response-status action_msgs::msg::GoalStatus::STATUS_SUCCEEDED;response-result *result_msg;on_terminal_state_(uuid_, response);}/// Indicate that a goal has been canceled./*** Only call this if the goal is executing or pending, but has been canceled.* This is a terminal state, no more methods should be called on a goal handle after this is* called.* \throws rclcpp::exceptions::RCLError If the goal is in any state besides executing.** \param[in] result_msg the final result to send to clients.*/voidcanceled(typename ActionT::Result::SharedPtr result_msg){_canceled();auto response std::make_sharedtypename ActionT::Impl::GetResultService::Response();response-status action_msgs::msg::GoalStatus::STATUS_CANCELED;response-result *result_msg;on_terminal_state_(uuid_, response);}/// Indicate that the server is starting to execute a goal.
// throws rclcpp::exceptions::RCLError If the goal is in any state besides executing.voidexecute(){_execute();on_executing_(uuid_);}/// Get the user provided message describing the goal.const std::shared_ptrconst typename ActionT::Goalget_goal() const{return goal_;}/// Get the unique identifier of the goalconst GoalUUID get_goal_id() const{return uuid_;}virtual ~ServerGoalHandle(){// Cancel goal if handle was allowed to destruct without reaching a terminal stateif (try_canceling()) {auto null_result std::make_sharedtypename ActionT::Impl::GetResultService::Response();null_result-status action_msgs::msg::GoalStatus::STATUS_CANCELED;on_terminal_state_(uuid_, null_result);}}protected:/// \internalServerGoalHandle(std::shared_ptrrcl_action_goal_handle_t rcl_handle,GoalUUID uuid,std::shared_ptrconst typename ActionT::Goal goal,std::functionvoid(const GoalUUID , std::shared_ptrvoid) on_terminal_state,std::functionvoid(const GoalUUID ) on_executing,std::functionvoid(std::shared_ptrtypename ActionT::Impl::FeedbackMessage) publish_feedback): ServerGoalHandleBase(rcl_handle), goal_(goal), uuid_(uuid),on_terminal_state_(on_terminal_state), on_executing_(on_executing),publish_feedback_(publish_feedback){}/// The user provided message describing the goal.const std::shared_ptrconst typename ActionT::Goal goal_;/// A unique id for the goal request.const GoalUUID uuid_;friend ServerActionT;std::functionvoid(const GoalUUID , std::shared_ptrvoid) on_terminal_state_;std::functionvoid(const GoalUUID ) on_executing_;std::functionvoid(std::shared_ptrtypename ActionT::Impl::FeedbackMessage) publish_feedback_;
};
/// A response returned by an action server callback when a goal is requested.
enum class GoalResponse : int8_t
{/// The goal is rejected and will not be executed.REJECT 1,/// The server accepts the goal, and is going to begin execution immediately.ACCEPT_AND_EXECUTE 2,/// The server accepts the goal, and is going to execute it later.ACCEPT_AND_DEFER 3,
};/// A response returned by an action server callback when a goal has been asked to be canceled.
enum class CancelResponse : int8_t
{/// The server will not try to cancel the goal.REJECT 1,/// The server has agreed to try to cancel the goal.ACCEPT 2,
};
action client定义
#include functional
#include future
#include memory
#include string
#include sstream#include action_tutorials_interfaces/action/fibonacci.hpp#include rclcpp/rclcpp.hpp
#include rclcpp_action/rclcpp_action.hpp
#include rclcpp_components/register_node_macro.hppnamespace action_tutorials_cpp
{
class FibonacciActionClient : public rclcpp::Node
{
public:using Fibonacci action_tutorials_interfaces::action::Fibonacci;using GoalHandleFibonacci rclcpp_action::ClientGoalHandleFibonacci;explicit FibonacciActionClient(const rclcpp::NodeOptions options): Node(fibonacci_action_client, options){this-client_ptr_ rclcpp_action::create_clientFibonacci(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_-cancel();if (!this-client_ptr_-wait_for_action_server()) {RCLCPP_ERROR(this-get_logger(), Action server not available after waiting);rclcpp::shutdown();}auto goal_msg Fibonacci::Goal();goal_msg.order 10;RCLCPP_INFO(this-get_logger(), Sending goal);auto send_goal_options rclcpp_action::ClientFibonacci::SendGoalOptions();send_goal_options.goal_response_callback std::bind(FibonacciActionClient::goal_response_callback, this, _1);send_goal_options.feedback_callback std::bind(FibonacciActionClient::feedback_callback, this, _1, _2);send_goal_options.result_callback std::bind(FibonacciActionClient::result_callback, this, _1);this-client_ptr_-async_send_goal(goal_msg, send_goal_options);}private:rclcpp_action::ClientFibonacci::SharedPtr client_ptr_;rclcpp::TimerBase::SharedPtr timer_;void goal_response_callback(std::shared_futureGoalHandleFibonacci::SharedPtr future){auto goal_handle future.get();if (!goal_handle) {RCLCPP_ERROR(this-get_logger(), Goal was rejected by server);} else {RCLCPP_INFO(this-get_logger(), Goal accepted by server, waiting for result);}}void feedback_callback(GoalHandleFibonacci::SharedPtr,const std::shared_ptrconst Fibonacci::Feedback feedback){std::stringstream ss;ss Next number in sequence received: ;for (auto number : feedback-partial_sequence) {ss number ;}RCLCPP_INFO(this-get_logger(), ss.str().c_str());}void result_callback(const GoalHandleFibonacci::WrappedResult result){switch (result.code) {case rclcpp_action::ResultCode::SUCCEEDED:break;case rclcpp_action::ResultCode::ABORTED:RCLCPP_ERROR(this-get_logger(), Goal was aborted);return;case rclcpp_action::ResultCode::CANCELED:RCLCPP_ERROR(this-get_logger(), Goal was canceled);return;default:RCLCPP_ERROR(this-get_logger(), Unknown result code);return;}std::stringstream ss;ss Result received: ;for (auto number : result.result-sequence) {ss number ;}RCLCPP_INFO(this-get_logger(), ss.str().c_str());rclcpp::shutdown();}
}; // class FibonacciActionClient} // namespace action_tutorials_cppRCLCPP_COMPONENTS_REGISTER_NODE(action_tutorials_cpp::FibonacciActionClient)
配置对应的CMakeLists.txt文件
add_library(action_server SHAREDsrc/fibonacci_action_server.cpp)
target_include_directories(action_server PRIVATE$BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include$INSTALL_INTERFACE:include)
target_compile_definitions(action_serverPRIVATE ACTION_TUTORIALS_CPP_BUILDING_DLL)
ament_target_dependencies(action_serveraction_tutorials_interfacesrclcpprclcpp_actionrclcpp_components)
rclcpp_components_register_node(action_server PLUGIN action_tutorials_cpp::FibonacciActionServer EXECUTABLE fibonacci_action_server)
install(TARGETSaction_serverARCHIVE DESTINATION libLIBRARY DESTINATION libRUNTIME DESTINATION bin)add_library(action_client SHAREDsrc/fibonacci_action_client.cpp)
target_include_directories(action_client PRIVATE$BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include$INSTALL_INTERFACE:include)
target_compile_definitions(action_clientPRIVATE ACTION_TUTORIALS_CPP_BUILDING_DLL)
ament_target_dependencies(action_clientaction_tutorials_interfacesrclcpprclcpp_actionrclcpp_components)
rclcpp_components_register_node(action_client PLUGIN action_tutorials_cpp::FibonacciActionClient EXECUTABLE fibonacci_action_client)
install(TARGETSaction_clientARCHIVE DESTINATION libLIBRARY DESTINATION libRUNTIME DESTINATION bin)
通过编译之后就可以得到对应的模型
