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一、新建项目

# 创建工作空间
mkdir -p demo5/src && cd demo5# 初始化工作空间
catkin_make# 创建功能包
cd src
catkin_create_pkg demo roscpp actionlib_msgs message_generation tf

二、创建行为

# 创建行为目录
mkdir action && cd action# 创建行为文件
vim Move.action# 定义行为内容
uint32 destination
---
bool arrived
---
uint32 distance

三、修改编译配置

# 添加行为文件
add_action_files(FILESMove.action
)# 生成消息文件
generate_messages(DEPENDENCIESstd_msgsactionlib_msgs
)# 添加源文件
add_executable(server src/server.cpp)
add_executable(client src/client.cpp)# 添加依赖
add_dependencies(server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)# 链接catkin库
target_link_libraries(server ${catkin_LIBRARIES})
target_link_libraries(client ${catkin_LIBRARIES})

四、创建行为服务端

#include <iostream>#include "ros/ros.h"
#include "actionlib/server/simple_action_server.h"
#include "demo/MoveAction.h"void ActionCallback(const demo::MoveGoalConstPtr &goal, actionlib::SimpleActionServer<demo::MoveAction> *server) {if (goal.get() != nullptr) {uint32_t destination = goal.get()->destination;ROS_INFO("destination: %d", destination);ros::Rate rate(1);for (uint32_t distance = 0; distance < destination; ++distance) {demo::MoveFeedback feedback;feedback.distance = distance;server->publishFeedback(feedback);rate.sleep();}demo::MoveResult result;result.arrived = destination;server->setSucceeded(result);}
}int main(int argc, char* argv[]) {std::string nodeName = "Server";ros::init(argc, argv, nodeName);ros::NodeHandle nodeHandle;std::string actionName = "move";actionlib::SimpleActionServer<demo::MoveAction> actionServer(nodeHandle, actionName, boost::bind(&ActionCallback, _1, &actionServer), false);actionServer.start();ros::spin();return EXIT_SUCCESS;
}

五、创建行为客户端

#include <iostream>#include "ros/ros.h"
#include "actionlib/client/simple_action_client.h"
#include "demo/MoveAction.h"void doneCallback(const actionlib::SimpleClientGoalState &state, const demo::MoveResultConstPtr &result, actionlib::SimpleActionClient<demo::MoveAction> *client) {ROS_INFO("MoveAction state: %s", state.toString().c_str());if (state == state.SUCCEEDED) {ros::shutdown();}
}void activeCallback() {ROS_INFO("MoveAction active!!!");
}void feedbackCallback(const demo::MoveFeedbackConstPtr &feedback) {ROS_INFO("MoveAction feedback: %d", feedback.get()->distance);
}int main(int argc, char* argv[]) {std::string nodeName = "Client";ros::init(argc, argv, nodeName);ros::NodeHandle nodeHandle;std::string actionName = "move";actionlib::SimpleActionClient<demo::MoveAction> &&actionClient = actionlib::SimpleActionClient<demo::MoveAction>(nodeHandle, actionName);actionClient.waitForServer();demo::MoveGoal goal;goal.destination = 5;actionClient.sendGoal(goal, boost::bind(&doneCallback, _1, _2, &actionClient), boost::bind(&activeCallback), boost::bind(&feedbackCallback, _1));ros::spin();return EXIT_SUCCESS;
}