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ROS1 Action 通信案例！

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LiuJR 2024-09-18 01:20:37 +08:00
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cmake_minimum_required(VERSION 3.0.2)
project(action_test)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
# find_package(catkin REQUIRED COMPONENTS
# roscpp
# rospy
# std_msgs
# )
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
actionlib
actionlib_msgs
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
# 配置action源文件，FILES将引用当前功能包目录的action目录中的*.action文件，自动生成一个头文件（*.h）
add_action_files(
FILES
Laundry.action
)
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs
# )
# 生成消息时依赖于std_msgs、actionlib_msgs
generate_messages(
DEPENDENCIES
std_msgs
actionlib_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
# catkin_package(
# # INCLUDE_DIRS include
# # LIBRARIES action_test
# # CATKIN_DEPENDS roscpp rospy std_msgs
# # DEPENDS system_lib
# )
# 运行时依赖，描述了库、catkin构建依赖项和系统依赖的功能包
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES action_test
CATKIN_DEPENDS roscpp rospy std_msgs actionlib actionlib_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/action_test.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/action_test_node.cpp)
add_executable(action_client src/action_client.cpp)
add_executable(action_server src/action_server.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
# 构建库和可执行文件之前，预先生成依赖消息
add_dependencies(action_client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(action_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
# 节点构建选项，配置目标链接库
target_link_libraries(action_client
${catkin_LIBRARIES}
)
target_link_libraries(action_server
${catkin_LIBRARIES}
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_action_test.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

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# action_test
ROS1 动作通信示例（洗碗机案例）

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# goal，洗衣类型 1:开始快洗;2:开始高温洗;3:开始浸泡洗
uint8 wash_type
---
# result，洗涤结果
string wash_result
---
# feedback，洗涤的进度
uint8 wash_percent

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<?xml version="1.0"?>
<package format="2">
<name>action_test</name>
<version>0.0.0</version>
<description>The action_test package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="ubuntu@todo.todo">ubuntu</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/action_test</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>actionlib</build_depend>
<build_depend>actionlib_msgs</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>actionlib</build_export_depend>
<build_depend>actionlib_msgs</build_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>actionlib_msgs</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>

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#include "ros/ros.h"
#include "actionlib/client/simple_action_client.h"
#include "action_test/LaundryAction.h"
typedef actionlib::SimpleActionClient<action_test::LaundryAction> ActionClient;
void doneCb(const actionlib::SimpleClientGoalState &state, const action_test::LaundryResultConstPtr &result)
{
if (state.state_ == state.SUCCEEDED)
{
ROS_INFO("反馈结果:%s", result->wash_result.c_str());
}
else
{
ROS_INFO("任务失败！");
}
}
void activeCb()
{
ROS_INFO("动作已经被激活....");
}
void feedbackCb(const action_test::LaundryFeedbackConstPtr &feedback)
{
ROS_INFO("洗涤进度为:%d%s", feedback->wash_percent, "%");
}
int main(int argc, char **argv)
{
// 设置编码
setlocale(LC_ALL, "");
int flag = 0;
// 1.初始化ROS节点
ros::init(argc, argv, "action_client");
// 2.实例化ROS句柄
ros::NodeHandle nh;
// 3.实例化action客户端对象
// 参数2为动作的名称，参数3默认为true，无需再调用ros::spin()，设置为false时需手动调用
ActionClient client(nh, "laundry", true);
// 等待服务端启动
client.waitForServer();
// 4.定义动作目标数据
action_test::LaundryGoal goal;
goal.wash_type = 1;
// 5.发送目标，同时注册回调，处理反馈以及最终结果
// 参数1是转换为Done时处理的回调函数，参数2为转换为Active时处理的回调函数，参数3为每当收到此目标的反馈时就调用的回调函数
// client.sendGoal(goal, &doneCb, &activeCb, &feedbackCb);
while (ros::ok())
{
if (flag == 6)
{
client.sendGoal(goal, &doneCb, &activeCb, &feedbackCb);
}
else if (flag < 6)
{
ROS_INFO("等待中%d...",flag);
}
flag++;
ros::Duration(1).sleep();
}
// ros::spinOnce();
// ros::spin();
return 0;
}

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#include "ros/ros.h"
#include "actionlib/server/simple_action_server.h"
#include "action_test/LaundryAction.h"
#include <iostream>
typedef actionlib::SimpleActionServer<action_test::LaundryAction> ActionServer;
// 4.收到action的goal后调用的回调函数
void executeCb(const action_test::LaundryGoalConstPtr &goal, ActionServer *server)
{
// 获取目标值
uint8_t wash_type = goal->wash_type;
std::string wash_mode;
switch (wash_type)
{
case 1:
wash_mode = "快洗";
break;
case 2:
wash_mode = "高温洗";
break;
case 3:
wash_mode = "浸泡洗";
break;
default:
break;
}
ROS_INFO("目标值为%d，开始%s！", wash_type, wash_mode.c_str());
// 响应连续反馈
action_test::LaundryFeedback feedback;
for (int i = 0; i <= 100; i++)
{
feedback.wash_percent = i;
server->publishFeedback(feedback);
ros::Duration(0.5).sleep();
}
// 反馈结果
action_test::LaundryResult result;
result.wash_result = wash_mode + "完成！";
server->setSucceeded(result);
}
int main(int argc, char **argv)
{
// 设置编码
setlocale(LC_ALL, "");
// 1.初始化ROS节点
ros::init(argc, argv, "action_server");
// 2.实例化ROS句柄
ros::NodeHandle nh;
// 3.实例化action服务端对象
// 参数2为动作服务器名称，参数3为当一个新目标被接收时在一个单独的线程中被调用，参数4为告诉ActionServer是否在它出现时立即开始发布
ActionServer server(nh, "laundry", boost::bind(&executeCb, _1, &server), false);
server.start();
ros::spin();
return 0;
}

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cmake_minimum_required(VERSION 3.0.2)
project(ros_action)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
# find_package(catkin REQUIRED COMPONENTS
# roscpp
# rospy
# std_msgs
# )
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
# message_generation #自定义消息类型依赖 自定义重点
actionlib_msgs #动作编程重点
actionlib #动作编程重点
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
add_action_files(
FILES
heatWater.action
)
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs
# )
generate_messages(
DEPENDENCIES
std_msgs #自定义重点
actionlib_msgs #动作重点
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
# catkin_package(
# # INCLUDE_DIRS include
# # LIBRARIES ros_action
# # CATKIN_DEPENDS roscpp rospy std_msgs
# # DEPENDS system_lib
# )
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES ros_action
CATKIN_DEPENDS roscpp std_msgs #自定义重点
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/ros_action.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/ros_action_node.cpp)
add_executable(heatWaterClient src/heatWaterClient.cpp)
add_executable(heatWaterServer src/heatWaterServer.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
# add_dependencies(heatWaterClient ${PROJECT_NAME}_gen_cpp) #包含自定义消息类型 自定义重点
# add_dependencies(heatWaterServer ${PROJECT_NAME}_gen_cpp) #包含自定义消息类型 自定义重点
add_dependencies(heatWaterClient ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(heatWaterServer ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
target_link_libraries(heatWaterClient ${catkin_LIBRARIES})
target_link_libraries(heatWaterServer ${catkin_LIBRARIES})
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ros_action.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

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# ros_action
ROS1 动作通信示例（烧水案例）

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#目标水温
float32 tempTarget #目标
---
#最终水温
float32 tempFinal #最终结果
---
#当前水温
float32 tempNow #中间过程

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src/ros_action/include/ros_action/.gitkeep Normal file
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src/ros_action/package.xml Normal file
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<?xml version="1.0"?>
<package format="2">
<name>ros_action</name>
<version>0.0.0</version>
<description>The ros_action package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="ubuntu@todo.todo">ubuntu</maintainer>
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<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/ros_action</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
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<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>actionlib</build_depend>
<build_depend>actionlib_msgs</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>actionlib</build_export_depend>
<build_export_depend>actionlib_msgs</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>actionlib_msgs</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>

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src/ros_action/src/heatWaterClient.cpp Normal file
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#include <actionlib/client/simple_action_client.h>
#include "ros_action/heatWaterAction.h"
typedef actionlib::SimpleActionClient<ros_action::heatWaterAction> Client;
int main(int argc, char** argv)
{
setlocale(LC_ALL, "");
// ROS节点初始化
ros::init(argc, argv, "heatWaterClient");
//定义一个动作的客户端
Client client("heatWater");
//等待烧水服务
ROS_INFO("等待烧水服务...");
client.waitForServer();
ROS_INFO("烧水服务已启用...");
ros_action::heatWaterGoal goal;
goal.tempTarget = 100;
client.sendGoal(goal,[](const actionlib::SimpleClientGoalState& state,
const ros_action::heatWaterResultConstPtr& result)->void{ //done
ROS_INFO("水烧开了,开水温度[%f]",result->tempFinal);
}
,
[]()->void{ //activte
ROS_INFO("开始烧水...");
}
,
[](const ros_action::heatWaterFeedbackConstPtr &feedback)->void{ //feedback
ROS_INFO("当前水温[%f]℃",feedback->tempNow);
}
);
ros::spin();
return 0;
}

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src/ros_action/src/heatWaterServer.cpp Normal file
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#include <ros/ros.h>
#include <actionlib/server/simple_action_server.h>
#include "ros_action/heatWaterAction.h"
typedef actionlib::SimpleActionServer<ros_action::heatWaterAction> Server;
void execute(const ros_action::heatWaterGoalConstPtr& goal, Server* server)
{
ros::Rate r(10000);
ros_action::heatWaterFeedback feedback;
ros_action::heatWaterResult result;
ROS_INFO("目标水温[%f]℃.", goal->tempTarget);
float TTemp = goal->tempTarget;
float NTemp = 0;
float deltaTemp = 5.5;
// 假设烧水的温度增长为线性
while(1)
{
sleep(1);
NTemp += deltaTemp;
feedback.tempNow = NTemp;
if(NTemp > TTemp)
{
result.tempFinal = NTemp;
break;
}
server->publishFeedback(feedback);
}
// 当action完成后，向客户端返回结果
ROS_INFO("水烧开了..");
server->setSucceeded(result);
}
int main(int argc, char** argv)
{
setlocale(LC_ALL, "");
ros::init(argc, argv, "heatWaterServer");
ros::NodeHandle n;
// 定义一个服务器
Server server(n, "heatWater", boost::bind(&execute, _1, &server), false);
// 服务器开始运行
server.start();
ros::spin();
return 0;
}