ros简版Action通讯SimpleAction
2024-04-04 04:47:32
ros简版Action通讯SimpleAction
一.python
1.非ui界面版
1.1client.py
#!/usr/bin/env python
# coding:utf-8
import rospy
from actionlib import SimpleActionClient
from demo_actions.msg import CountNumberAction, CountNumberGoal,CountNumberResult
from actionlib import GoalStatus# 结果回调
def done_cb(state,result):if state==GoalStatus.SUCCEEDED:rospy.loginfo('succeed {}'.format(result.count))elif state==GoalStatus.ABORTED:rospy.loginfo('aborted {}'.format(result.count))elif state==GoalStatus.PREEMPTED:rospy.loginfo('cancel {}'.format(result.count))# 激活
def active_cb():rospy.loginfo('active')# 进度
def feedback_cb(feedback):rospy.loginfo('feedback {}'.format(feedback.percent))if __name__ == '__main__':# 创建节点rospy.init_node("action_client")# action的名字actionName = 'action_py'# 创建client端client = SimpleActionClient(actionName, CountNumberAction)# 等待client.wait_for_server()# 目标goal = CountNumberGoal()goal.max = 10goal.duration = 1# 发送目标client.send_goal(goal,done_cb,active_cb,feedback_cb)# 睡眠两秒钟取消rate = rospy.Rate(0.5)rate.sleep()client.cancel_goal()# 阻塞rospy.spin()
1.2 server.py
#!/usr/bin/env python
# coding:utf-8
import rospy
from actionlib import SimpleActionServer
from demo_actions.msg import CountNumberAction,CountNumberFeedback,CountNumberResultdef execute_cb(goal):rospy.loginfo('receive goal')max = goal.maxduration = goal.duration# 结果result = CountNumberResult()rate = rospy.Rate(duration)for i in range(1,max):# 发布进度feedback = CountNumberFeedback()feedback.percent = float(i)/maxserver.publish_feedback(feedback)# 取消判断if server.is_preempt_requested():result.count = iserver.set_aborted(result)return# 睡眠rate.sleep()# 成功result.count = maxserver.set_succeeded(result)if __name__ == '__main__':# 创建节点rospy.init_node("action_server")# action的名字actionName = 'action_py'# 创建serverserver = SimpleActionServer(actionName,CountNumberAction,execute_cb,auto_start=False)# 启动serverserver.start()# 阻塞rospy.spin()2.ui版
2.1 MainWIndowClient.py
#!/usr/bin/env python
# coding:utf-8
import rospy
from PyQt5.QtWidgets import *
from actionlib import SimpleActionClient
from demo_actions.msg import CountNumberAction, CountNumberGoal,CountNumberResult
from actionlib import GoalStatusclass MainWindow(QWidget):def __init__(self):super(MainWindow, self).__init__()print 'helo'self.setWindowTitle("hello")layout = QFormLayout()self.setLayout(layout)maxEdit = QLineEdit()durationEdit = QLineEdit()activeL = QLabel()feedbackL = QLabel()doneL = QLabel()sendBtn = QPushButton('发送目标')cancelBtn = QPushButton('取消目标')layout.addRow('max目标:',maxEdit)layout.addRow('duration目标:',durationEdit)layout.addRow('激活状态:',activeL)layout.addRow('进度:',feedbackL)layout.addRow('完成状态:',doneL)layout.addRow('',sendBtn)layout.addRow('',cancelBtn)# action的名字actionName = 'action_py'# 创建client端self.client = SimpleActionClient(actionName, CountNumberAction)sendBtn.clicked.connect(self.send)cancelBtn.clicked.connect(self.cancel)def cancel(self):self.client.cancel_goal()def send(self):# 目标goal = CountNumberGoal()goal.max = 10goal.duration = 1# 发送目标self.client.send_goal(goal,self.done_cb,self.active_cb,self.feedback_cb)# 结果回调def done_cb(self,state,result):if state==GoalStatus.SUCCEEDED:rospy.loginfo('succeed {}'.format(result.count))elif state==GoalStatus.ABORTED:rospy.loginfo('aborted {}'.format(result.count))elif state==GoalStatus.PREEMPTED:rospy.loginfo('cancel {}'.format(result.count))# 激活def active_cb(self):rospy.loginfo('active')# 进度def feedback_cb(self,feedback):rospy.loginfo('feedback {}'.format(feedback.percent))2.2
MainWindowServer.py
#!/usr/bin/env python
# coding:utf-8
import rospy
from actionlib import SimpleActionServer
from demo_actions.msg import CountNumberAction,CountNumberFeedback,CountNumberResult
from PyQt5.QtWidgets import *
from PyQt5.QtCore import QTimerclass MainWindow(QWidget):def __init__(self):super(MainWindow, self).__init__()self.timer = QTimer(self)self.timer.setInterval(100)self.timer.timeout.connect(self.timeout)self.timer.start()self.setFixedSize(200,100)layout = QFormLayout()self.setLayout(layout)maxL = QLabel()durationL = QLabel()btn = QPushButton("中止")layout.addRow("max:",maxL)layout.addRow("duration:",durationL)layout.addRow("",btn)self.isAbort = False# action的名字actionName = 'action_py'# 创建serverself.server = SimpleActionServer(actionName,CountNumberAction,self.execute_cb,auto_start=False)# 启动serverself.server.start()btn.clicked.connect(self.abort)def timeout(self):if rospy.is_shutdown():QApplication.quit()def abort(self):self.isAbort = Truedef execute_cb(self,goal):rospy.loginfo('receive goal')self.isAbort = Falsemax = goal.maxduration = goal.duration# 结果result = CountNumberResult()rate = rospy.Rate(duration)for i in range(1,max):# 发布进度feedback = CountNumberFeedback()feedback.percent = float(i)/maxself.server.publish_feedback(feedback)# 取消判断if self.isAbort:result.count = iself.server.set_aborted(result)return# 取消判断if self.server.is_preempt_requested():result.count = iself.server.set_preempted(result)return# 睡眠rate.sleep()# 成功result.count = maxself.server.set_succeeded(result)
2.3
client_gui.py
#!/usr/bin/env python
# coding:utf-8from MainWIndowClient import *
import sysif __name__ == '__main__':# 创建节点rospy.init_node("action_client")app = QApplication(sys.argv)w = MainWindow()w.show()sys.exit(app.exec_())2.4
server_gui.py
#!/usr/bin/env python
# coding:utf-8
import rospy
from MainWindowServer import *import sysif __name__ == '__main__':# 创建节点rospy.init_node("action_server")app = QApplication(sys.argv)w = MainWindow()w.show()exec_ = app.exec_()sys.exit(exec_)二.c++
1.非ui版
1.1 simple_client.cpp
//
// Created by wt on 2020/7/3.
//
#include <iostream>
#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <demo_actions/CountNumberAction.h>using namespace std;
//结果回调 (包含了很多状态 成功 取消 错误)
void done_cb(const actionlib::SimpleClientGoalState &state,const demo_actions::CountNumberResult::ConstPtr &result) {if (state==actionlib::SimpleClientGoalState::SUCCEEDED){//服务端setSuccedROS_INFO_STREAM("succeed"<<result->count);}else if(state==actionlib::SimpleClientGoalState::ABORTED){//setAbortedROS_INFO_STREAM("aborted"<<result->count);}else if(state==actionlib::SimpleClientGoalState::PREEMPTED){//setAbortedROS_INFO_STREAM("preempted"<<result->count);}
}
//激活回调
void active_cb(){ROS_INFO_STREAM("active");
}//进度回调
void feedback_cb(const demo_actions::CountNumberFeedback::ConstPtr & feedback){ROS_INFO_STREAM("feedback"<<feedback->percent);
}int main(int argc, char *argv[]) {//节点名string nodeName = "action_client";//初始化节点ros::init(argc, argv, nodeName,ros::init_options::AnonymousName);//创建节点ros::NodeHandle node;//通信名string actionName = "action_cpp";//创建客户端actionlib::SimpleActionClient<demo_actions::CountNumberAction> client(node, actionName);//等待client.waitForServer();//目标demo_actions::CountNumberGoal goal;goal.max = 10;goal.duration = 1;//发送目标(发布topic)client.sendGoal(goal,done_cb,active_cb,feedback_cb);//等2秒钟 取消任务ros::Rate rate(0.5);rate.sleep();//取消任务
// client.cancelGoal();//事件轮询ros::spin();return 0;
}
1.2
simple_server.cpp
//
// Created by wt on 2020/7/3.
//
#include <iostream>
#include <ros/ros.h>
//action通信server端
#include <actionlib/server/simple_action_server.h>
#include <demo_actions/CountNumberAction.h>using namespace std;//参数：发送的目标指针
void execute_callback(const demo_actions::CountNumberGoal::ConstPtr &goal,actionlib::SimpleActionServer<demo_actions::CountNumberAction> *server) {ROS_INFO_STREAM("receive goal");//获取目标中的数据long max = goal->max;double duration = goal->duration;//回调结果demo_actions::CountNumberResult result;//rateros::Rate rate(duration);for (int i = 1; i < max; ++i) {
// if(i==2){
// //认为服务器出错
// result.count = -1;
// server->setAborted(result);
// return;
// }/*-------------------------- 取消 --------------------------*///是否请求被取消if(server->isPreemptRequested()){//必须要知道客户端已经取消了任务，才能通过这个方法返回结果result.count = i;server->setPreempted(result);return;}//进度demo_actions::CountNumberFeedback feedback;feedback.percent = (double)i/(double)max;//发布进度server->publishFeedback(feedback);//睡眠rate.sleep();}//成功result.count = max;server->setSucceeded(result);}int main(int argc, char *argv[]) {//节点名string nodeName = "action_server";//初始化节点ros::init(argc, argv, nodeName);//创建节点ros::NodeHandle node;//通信名string actionName = "action_cpp";//创建服务端actionlib::SimpleActionServer<demo_actions::CountNumberAction> server(actionName, boost::bind(execute_callback,_1,&server), false);//启动服务server.start();//事件轮询ros::spin();return 0;
}
2.ui界面版
2.1
MainWindowClient.h
//
// Created by wt on 2020/7/5.
//#ifndef DEMO_USE_ACTION_MAINWINDOWCLIENT_H
#define DEMO_USE_ACTION_MAINWINDOWCLIENT_H
#include <QWidget>
#include <QFormLayout>
#include <QLineEdit>
#include <QLabel>
#include <QPushButton>
#include <actionlib/client/simple_action_client.h>
#include <demo_actions/CountNumberAction.h>
#include <actionlib/server/simple_action_server.h>
#include <QTimer>
class MainWindowClient: public QWidget {
private:QFormLayout layout;QLineEdit maxEdit;QLineEdit durationEdit;QLabel activeL;QLabel feedbackL;QLabel doneL;QPushButton sendBtn;QPushButton cancelBtn;actionlib::SimpleActionClient<demo_actions::CountNumberAction> *client;QTimer timer;public:MainWindowClient(ros::NodeHandle node,QWidget* parent = Q_NULLPTR);~MainWindowClient();//发送目标void send();//取消void cancel();//完成回调void done_cb(const actionlib::SimpleClientGoalState &state,const demo_actions::CountNumberResult::ConstPtr &result);//激活void active_cb();//进度void feedback_cb(const demo_actions::CountNumberFeedback::ConstPtr & feedback);void timeout();
};#endif //DEMO_USE_ACTION_MAINWINDOWCLIENT_H
2.2
MainWindowClient.cpp
//
// Created by wt on 2020/7/5.
//#include "MainWindowClient.h"MainWindowClient::MainWindowClient(ros::NodeHandle node,QWidget* parent):QWidget(parent),sendBtn("发送目标"),
cancelBtn("取消目标"){setLayout(&layout);layout.addRow("max目标：",&maxEdit);layout.addRow("duration目标：",&durationEdit);layout.addRow("激活状态：",&activeL);layout.addRow("进度：",&feedbackL);layout.addRow("完成状态：",&doneL);layout.addRow("",&sendBtn);layout.addRow("",&cancelBtn);client = new actionlib::SimpleActionClient<demo_actions::CountNumberAction>(node,"action_cpp");client->waitForServer();//这里不需要用这个,会阻塞窗口, 用client->is*** 来判断是否连上了//定时器timer.setInterval(10);timer.start();//定时信号connect(&timer,&QTimer::timeout,this,&WindoClient::timeout);//信号和槽connect(&sendBtn,&QPushButton::clicked,this,&MainWindowClient::send);connect(&cancelBtn,&QPushButton::clicked,this,&MainWindowClient::cancel);
}MainWindowClient::~MainWindowClient() {
ros::shutdown();}void MainWindowClient::send() {demo_actions::CountNumberGoal goal;goal.max = maxEdit.text().toLong();goal.duration = durationEdit.text().toDouble();client->sendGoal(goal,boost::bind(&MainWindowClient::done_cb,this,_1,_2),boost::bind(&MainWindowClient::active_cb,this),boost::bind(&MainWindowClient::feedback_cb,this,_1));
}void MainWindowClient::done_cb(const actionlib::SimpleClientGoalState &state,const demo_actions::CountNumberResult::ConstPtr &result){if (state==actionlib::SimpleClientGoalState::SUCCEEDED){//服务端setSuccedROS_INFO_STREAM("succeed"<<result->count);doneL.setText("成功");}else if(state==actionlib::SimpleClientGoalState::ABORTED){//setAbortedROS_INFO_STREAM("aborted"<<result->count);doneL.setText("服务出错");}else if(state==actionlib::SimpleClientGoalState::PREEMPTED){//setAbortedROS_INFO_STREAM("preempted"<<result->count);doneL.setText("取消");}
}
void MainWindowClient::active_cb() {ROS_INFO_STREAM("active");activeL.setText("激活");
}void MainWindowClient::feedback_cb(const demo_actions::CountNumberFeedback::ConstPtr & feedback){ROS_INFO_STREAM("feedback "<<feedback->percent);feedbackL.setText(QString::number(feedback->percent));
}void MainWindowClient::cancel() {//取消目标client->cancelGoal();
}//定时的槽函数
void WindoClient::timeout(){//处理消息if(ros::isShuttingDown()){QApplication::quit();}}
2.3
MainWindowServer.h
//
// Created by wt on 2020/7/5.
//
#ifndef DEMO_USE_ACTION_MAINWINDOWSERVER_H
#define DEMO_USE_ACTION_MAINWINDOWSERVER_H
#include <QWidget>
#include <QFormLayout>
#include <QPushButton>
#include <QLabel>
#include <actionlib/server/simple_action_server.h>
#include <demo_actions/CountNumberAction.h>class MainWindowServer: public QWidget {
private:QFormLayout layout;QLabel maxL;QLabel dL;QPushButton btn;actionlib::SimpleActionServer<demo_actions::CountNumberAction> *server;//记录是否服务出错bool isAborted = false;
public:MainWindowServer(QWidget* parent = Q_NULLPTR);~MainWindowServer();//回调void execute_callback(const demo_actions::CountNumberGoal::ConstPtr &goal);//服务出错void aborted();
};#endif //DEMO_USE_ACTION_MAINWINDOWSERVER_H
2.4
MainWindowServer.cpp
//
// Created by wt on 2020/7/5.
//#include "MainWindowServer.h"MainWindowServer::MainWindowServer(QWidget* parent):QWidget(parent),btn("aborted") {setFixedSize(200,100);setLayout(&layout);layout.addRow("max:",&maxL);layout.addRow("duration:",&dL);layout.addRow("",&btn);//创建server端server = new actionlib::SimpleActionServer<demo_actions::CountNumberAction>("action_cpp",boost::bind(&MainWindowServer::execute_callback,this,_1), false);server->start();//服务端出错connect(&btn,&QPushButton::clicked,this,&MainWindowServer::aborted);
}MainWindowServer::~MainWindowServer() {delete server;
}void MainWindowServer::execute_callback(const demo_actions::CountNumberGoal::ConstPtr &goal) {ROS_INFO_STREAM("receive goal");//获取目标中的数据long max = goal->max;double duration = goal->duration;//设置控件maxL.setText(QString::number(max));dL.setText(QString::number(duration));//回调结果demo_actions::CountNumberResult result;//rateros::Rate rate(duration);for (int i = 1; i < max; ++i) {if(this->isAborted){//认为服务器出错result.count = -1;server->setAborted(result);return;}/*-------------------------- 取消 --------------------------*///是否请求被取消if(server->isPreemptRequested()){//必须要知道客户端已经取消了任务，才能通过这个方法返回结果result.count = i;server->setPreempted(result);return;}//进度demo_actions::CountNumberFeedback feedback;feedback.percent = (double)i/(double)max;//发布进度server->publishFeedback(feedback);//睡眠rate.sleep();}//成功result.count = max;server->setSucceeded(result);
}void MainWindowServer::aborted() {this->isAborted = true;
}
2.5
client_ui.cpp
//
// Created by wt on 2020/7/5.
//
#include <iostream>
#include <ros/ros.h>
#include <QApplication>
#include "MainWindowClient.h"
using namespace std;int main(int argc,char *argv[]){//节点名string nodeName = "action_client";//初始化节点ros::init(argc,argv,nodeName);//创建节点ros::NodeHandle node;/*-------------------------- qt --------------------------*/QApplication app(argc,argv);MainWindowClient w(node);w.show();return QApplication::exec();
}2.6
//
// Created by wt on 2020/7/5.
//
#include <iostream>
#include <ros/ros.h>
#include <QApplication>
#include "MainWindowServer.h"
using namespace std;int main(int argc,char *argv[]){//节点名string nodeName = "action_server";//初始化节点ros::init(argc,argv,nodeName);//创建节点ros::NodeHandle node;/*-------------------------- asy --------------------------*/ros::AsyncSpinner spinner(1);spinner.start();/*-------------------------- qt --------------------------*/QApplication app(argc,argv);MainWindowServer w;w.show();return QApplication::exec();
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