ROS节点通信（三）action

1、说明

ROS中的action也是节点通信的一种方式，其和service-client的不同点在于，service-client是一问一答模式，而action则多了一个反馈机制，即服务端不间断给客户端反馈

跳过创建工作区和功能包步骤

2.1、定义数据结构

action定义的数据结构分成三个部分，中间用 — 隔开，按照顺序如下：

2.1.1、goal

为了使action完成任务，引入一个目标概念，由客户端发送到服务端

2.1.4、result

结果由服务端发送给客户端，在完成 goal 之后，发送的任务结果

2.1.3、feedback

反馈为服务端发送到客户端，高度客户端，当前任务的进展

TestData.action

#请求的数据，一般由客户端发送给服务端

uint32 id

—

#请求结果，一般由服务端发送给客户端

uint32 total

—

#反馈的消息内容，一般由服务端不间断发送到客户端

float32 percent

.action 文件默认保存在 action 目录下

对于该文件，会生成7个消息类型，以便客户端和服务端通信，这些类型由 genaction.py 生成：

1. TestDataAction.msg
2. TestDataActionGoal.msg
3. TestDataActionResult.msg
4. TestDataActionFeedback.msg
5. TestDataGoal.msg
6. TestDataResult.msg
7. TestDataFeedback.msg

2.2、服务端

#include <ros/ros.h>

#include <test_action/TestDataAction.h>

#include <actionlib/server/simple_action_server.h>
typedef actionlib::SimpleActionServer<test_action::TestDataAction> Server;
void execute(const test_action::TestDataGoalConstPtr& goal, Server* server)

{


ros::Rate rate(1);<br/>
test_action::TestDataFeedback feedback;


ROS_INFO(“Dishwasher %d is working.”, goal-&gt;id);
for(int index = 1; index &lt;= 10; index++)


{<br/>
    feedback.percent = index * 10;<br/>
    server-&gt;publishFeedback(feedback);<br/>
    rate.sleep();<br/>
}


ROS_INFO(“Dishwasher %d finish working.”, goal-&gt;id);


server-&gt;setSucceeded();<br/>


}
int main(int argc, char** argv)

{


ros::init(argc, argv, &#34;test_action_service&#34;);<br/>
ros::NodeHandle handle;<br/>
//构建一个action服务，第二个参数是服务的名称，客户端需要根据这个唯一的名称进行连接<br/>
//最后一个参数表示是否构建完成之后就开始运行，一般应该设置为false，并在构建完成之后使用start()方法开始<br/>
Server server(handle, &#34;do_action&#34;,<br/>
              boost::bind(&amp;execute, _1, &amp;server), false);<br/>
server.start();<br/>
ros::spin();<br/>
return 0;<br/>


}

2.3、客户端

#include <ros/ros.h>

#include <test_action/TestDataAction.h>

#include <actionlib/client/simple_action_client.h>
typedef actionlib::SimpleActionClient<test_action::TestDataAction> Client;
//完成调用回调

void doneCb(const actionlib::SimpleClientGoalState& state,


        const test_action::TestDataResultConstPtr&amp; result)<br/>


{


ROS_INFO(&#34;The dishes are now clean&#34;);<br/>
ros::shutdown();<br/>


}
void activeCb()

{


ROS_INFO(&#34;goal just went active&#34;);<br/>


}
//反馈

void feedbackCb(const test_action::TestDataFeedbackConstPtr& feedback)

{


ROS_INFO(&#34;percent: %f&#34;, feedback-&gt;percent);<br/>


}
int main(int args, char** argv)

{


ros::init(args, argv, &#34;test_action_client&#34;);<br/>
Client client(&#34;do_action&#34;, true);<br/>
ROS_INFO(&#34;waiting for action server to start&#34;);<br/>
client.waitForServer();<br/>
ROS_INFO(&#34;action server started, sending goal&#34;);


test_action::TestDataGoal goal;


goal.id = 9;//填入goal<br/>
//客户端发送目标，后三个是各个阶段的回调，分别在完成时、通信刚激活时和反馈过程中<br/>
client.sendGoal(goal, &amp;doneCb, &amp;activeCb, &amp;feedbackCb);<br/>
ros::spin();


return 0;

}

2.4、构建配置

CMakeLists.txt需要添加以下包依赖

find_package(catkin REQUIRED genmsg actionlib_msgs actionlib)

add_action_files(DIRECTORY action FILES DoDishes.action)

generate_messages(DEPENDENCIES actionlib_msgs)

其中，genmsg 和 actionlib_msgs 是构建 .action 文件的时候需要的依赖，actionlib 是编译的时候需要的依赖

packages.xml 配置

<buildtool_depend>catkin</buildtool_depend>

<buildtool_depend>genmsg</buildtool_depend>

<build_export_depend>actionlib_msgs</build_export_depend>

<build_depend>actionlib</build_depend>

<build_depend>actionlib_msgs</build_depend>

<exec_depend>actionlib</exec_depend>

<exec_depend>actionlib_msgs</exec_depend>

2.5、结果

服务端：

[ INFO] [1621921903.942496821]: Dishwasher 9 is working.

[ INFO] [1621921913.942535907]: Dishwasher 9 finish working.

客户端：

[ INFO] [1621921903.728245862]: waiting for action server to start

[ INFO] [1621921903.941538934]: action server started, sending goal

[ INFO] [1621921903.942692392]: goal just went active

[ INFO] [1621921903.943088999]: percent: 10.000000

[ INFO] [1621921904.942911217]: percent: 20.000000

[ INFO] [1621921905.942921653]: percent: 30.000000

[ INFO] [1621921906.942895095]: percent: 40.000000

[ INFO] [1621921907.942843906]: percent: 50.000000

[ INFO] [1621921908.942901935]: percent: 60.000000

[ INFO] [1621921909.942896131]: percent: 70.000000

[ INFO] [1621921910.942844776]: percent: 80.000000

[ INFO] [1621921911.942889215]: percent: 90.000000

[ INFO] [1621921912.942941318]: percent: 100.000000

[ INFO] [1621921913.943146759]: The dishes are now clean