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LiXiaoqi 2024-09-28 17:49:30 +08:00
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.vscode
build
log
install

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cmake_minimum_required(VERSION 3.8)
project(action_test)
set(CMAKE_BUILD_TYPE Debug)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"action/Fibonacci.action"
)
# find dependencies
find_package(ament_cmake REQUIRED)
ament_package()

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int32 order
---
int32[] sequence
---
int32[] partial_sequence

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>action_test</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="user@todo.todo">user</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<depend>action_msgs</depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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cmake_minimum_required(VERSION 3.8)
project(cpp_srvcli)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
set(CMAKE_BUILD_TYPE Debug)
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(example_interfaces REQUIRED)
find_package(action_test REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"msg/Num.msg"
"msg/Sphere.msg"
"srv/AddThreeInts.srv"
DEPENDENCIES geometry_msgs # Add packages that above messages depend on, in this case geometry_msgs for Sphere.msg
)
# add_executable(server src/server.cpp)
# ament_target_dependencies(server rclcpp example_interfaces)
# action
add_library(action_server SHARED src/act_server.cpp)
target_include_directories(action_server PRIVATE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_compile_definitions(action_server
PRIVATE "ACTION_TUTORIALS_CPP_BUILDING_DLL")
ament_target_dependencies(action_server
"action_test"
"rclcpp"
"rclcpp_action"
"rclcpp_components")
rclcpp_components_register_node(action_server PLUGIN "action_tutorials_cpp::FibonacciActionServer" EXECUTABLE act_server)
# install(
# TARGETS
# server
# DESTINATION lib/${PROJECT_NAME}
# )
add_library(action_client SHARED
src/act_client.cpp)
target_include_directories(action_client PRIVATE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_compile_definitions(action_client
PRIVATE "ACTION_TUTORIALS_CPP_BUILDING_DLL")
ament_target_dependencies(action_client
"action_test"
"rclcpp"
"rclcpp_action"
"rclcpp_components")
rclcpp_components_register_node(action_client PLUGIN "action_tutorials_cpp::FibonacciActionClient" EXECUTABLE act_client)
# add_executable(testact src/testact.cpp)
# target_include_directories(testact PRIVATE
# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
# $<INSTALL_INTERFACE:include>)
# ament_target_dependencies(testact
# "rclcpp"
# "rclcpp_action")
install(TARGETS
action_server
action_client
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)
ament_package()

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src/cpp_srvcli/action/Fibonacci.action Normal file
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int32 order
---
int32[] sequence
---
int32[] partial_sequence

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#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_

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int64 num

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geometry_msgs/Point center
float64 radius

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>cpp_srvcli</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="user@todo.todo">user</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>example_interfaces</depend>
<depend>action_msgs</depend>
<depend>geometry_msgs</depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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#include <functional>
#include <future>
#include <memory>
#include <string>
#include <sstream>
#include "action_test/action/fibonacci.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "rclcpp_components/register_node_macro.hpp"
namespace action_tutorials_cpp
{
class FibonacciActionClient : public rclcpp::Node
{
public:
using Fibonacci = action_test::action::Fibonacci;
using GoalHandleFibonacci = rclcpp_action::ClientGoalHandle<Fibonacci>;
explicit FibonacciActionClient(const rclcpp::NodeOptions & options)
: Node("fibonacci_action_client", options)
{
this->client_ptr_ = rclcpp_action::create_client<Fibonacci>(
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::Client<Fibonacci>::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::Client<Fibonacci>::SharedPtr client_ptr_;
rclcpp::TimerBase::SharedPtr timer_;
void goal_response_callback(const GoalHandleFibonacci::SharedPtr & goal_handle)
{
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_ptr<const 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_cpp
RCLCPP_COMPONENTS_REGISTER_NODE(action_tutorials_cpp::FibonacciActionClient)

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#include <functional>
#include <memory>
#include <thread>
#include "action_test/action/fibonacci.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "rclcpp_components/register_node_macro.hpp"
#include "cpp_srvcli/aaaa.hpp"
namespace action_tutorials_cpp
{
class FibonacciActionServer : public rclcpp::Node
{
public:
using Fibonacci = action_test::action::Fibonacci;
using GoalHandleFibonacci = rclcpp_action::ServerGoalHandle<Fibonacci>;
ACTION_TUTORIALS_CPP_PUBLIC
explicit FibonacciActionServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
: Node("fibonacci_action_server", options)
{
using namespace std::placeholders;
this->action_server_ = rclcpp_action::create_server<Fibonacci>(
this,
"fibonacci",
std::bind(&FibonacciActionServer::handle_goal, this, _1, _2),
std::bind(&FibonacciActionServer::handle_cancel, this, _1),
std::bind(&FibonacciActionServer::handle_accepted, this, _1));
}
private:
rclcpp_action::Server<Fibonacci>::SharedPtr action_server_;
rclcpp_action::GoalResponse handle_goal(
const rclcpp_action::GoalUUID & uuid,
std::shared_ptr<const 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_ptr<GoalHandleFibonacci> 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_ptr<GoalHandleFibonacci> goal_handle)
{
using namespace std::placeholders;
// this needs to return quickly to avoid blocking the executor, so spin up a new thread
std::thread{std::bind(&FibonacciActionServer::execute, this, _1), goal_handle}.detach();
}
void execute(const std::shared_ptr<GoalHandleFibonacci> 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_shared<Fibonacci::Feedback>();
auto & sequence = feedback->partial_sequence;
sequence.push_back(0);
sequence.push_back(1);
auto result = std::make_shared<Fibonacci::Result>();
for (int i = 1; (i < goal->order) && rclcpp::ok(); ++i) {
// Check if there is a cancel request
if (goal_handle->is_canceling()) {
result->sequence = sequence;
goal_handle->canceled(result);
RCLCPP_INFO(this->get_logger(), "Goal canceled");
return;
}
// Update sequence
sequence.push_back(sequence[i] + sequence[i - 1]);
// Publish feedback
goal_handle->publish_feedback(feedback);
RCLCPP_INFO(this->get_logger(), "Publish feedback");
loop_rate.sleep();
}
// Check if goal is done
if (rclcpp::ok()) {
result->sequence = sequence;
goal_handle->succeed(result);
RCLCPP_INFO(this->get_logger(), "Goal succeeded");
}
}
}; // class FibonacciActionServer
} // namespace action_tutorials_cpp
RCLCPP_COMPONENTS_REGISTER_NODE(action_tutorials_cpp::FibonacciActionServer)

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#include "rclcpp/rclcpp.hpp"
#include "example_interfaces/srv/add_two_ints.hpp"
#include <memory>
void add(const std::shared_ptr<example_interfaces::srv::AddTwoInts::Request> request,
std::shared_ptr<example_interfaces::srv::AddTwoInts::Response> response)
{
response->sum = request->a + request->b;
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Incoming request\na: %ld" " b: %ld",
request->a, request->b);
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "sending back response: [%ld]", (long int)response->sum);
}
int main(int argc, char **argv)
{
rclcpp::init(argc, argv);
std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("add_two_ints_server");
rclcpp::Service<example_interfaces::srv::AddTwoInts>::SharedPtr service =
node->create_service<example_interfaces::srv::AddTwoInts>("add_two_ints", &add);
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Ready to add two ints.");
rclcpp::spin(node);
rclcpp::shutdown();
}

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#include <iostream>
#include "rclcpp/rclcpp.hpp"
#include <rclcpp_action/rclcpp_action.hpp>
#include "rosidl_runtime_c/action_type_support_struct.h"
using namespace std;
int main() {
auto ts = ROSIDL_GET_ACTION_TYPE_SUPPORT("action_test", "Fibonacci");
if (ts == nullptr) {
cout << "ts is null" << endl;
} else {
cout << "ts is not null" << endl;
}
}

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src/cpp_srvcli/srv/AddThreeInts.srv Normal file
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int64 a
int64 b
int64 c
---
int64 sum