当前位置： 首页 > news >正文

ROS学习之动作通信

news 2025/6/20 17:51:11

在b站学习赵老师的ROS通信，下面给出相关学习笔记

2.4.5_动作通信_小结_哔哩哔哩_bilibili

首先，服务端的目标：

可以提取客户端请求提交的整形数据，并且累加从1到该数据之间所有整数之和

完成每累加一次都计算当前运算进度，连续返回到客户端，在最后显示求和

关于C++实现代码：

#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "base_interfaces/action/progress.hpp"using base_interfaces::action::Progress;
using namespace std::chrono_literals;
using std::placeholders::_1;
using std::placeholders::_2;class ProgressActionServer: public rclcpp::Node{
public:ProgressActionServer():Node("progress_action_server_node_cpp"){RCLCPP_INFO(this->get_logger(),"Action service create");server_ = rclcpp_action::create_server<Progress>(this,"get_sum",std::bind(&ProgressActionServer::handle_goal,this,_1,_2),std::bind(&ProgressActionServer::handle_cancel,this,_1),std::bind(&ProgressActionServer::handle_accepcted,this,_1));}// 处理提交目标值rclcpp_action::GoalResponse handle_goal(const rclcpp_action::GoalUUID & uuid, std::shared_ptr<const Progress::Goal> goal){(void)uuid;// uuid dont used.if(goal->num <= 1){RCLCPP_INFO(this->get_logger(),"goal must biger than 1");return rclcpp_action::GoalResponse::REJECT;}RCLCPP_INFO(this->get_logger(),"goal rigth!");return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;}//处理取消请求rclcpp_action::CancelResponse handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<Progress>> goal_handle){(void)goal_handle;RCLCPP_INFO(this->get_logger(),"receive cancel request...");return rclcpp_action::CancelResponse::ACCEPT;}void execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<Progress>> goal_handle){int num = goal_handle->get_goal()->num;//获得目标值int sum = 0;auto feedback = std::make_shared<Progress::Feedback>();// sleep:rclcpp::Rate rate(1.0);auto result = std::make_shared<Progress::Result>();//goal_handle->publish_feedback();// 连续反馈for (int i =1; i<= num;i++ ){sum += i;double progress = i /(double)num;feedback->progress = progress;goal_handle->publish_feedback(feedback);RCLCPP_INFO(this->get_logger(),"连续反馈中，进度%.2f",progress);// 判断是否接受到了取消请求//goal_handle->is_canceling()//goal_handle->canceled()if (goal_handle->is_canceling()){result->sum = sum;goal_handle->canceled(result);RCLCPP_INFO(this->get_logger(),"任务被取消");return;/* code */}rate.sleep();}//goal_handle->succeed();// 最终响应if (rclcpp::ok()){auto result = std::make_shared<Progress::Result>();result->sum = sum;goal_handle->succeed(result);RCLCPP_INFO(this->get_logger(),"最终相应结果%d",sum);/* code */}}//生成连续反馈和最终响应void handle_accepcted(std::shared_ptr<rclcpp_action::ServerGoalHandle<Progress>> goal_handle){// 子线成处理耗时主逻辑std::thread(std::bind(&ProgressActionServer::execute, this,goal_handle)).detach();}
private:
rclcpp_action::Server<Progress>::SharedPtr server_;void on_timer(){}//rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;//rclcpp::TimerBase::SharedPtr timer_;//size_t count;
};
int main(int argc, char ** argv)
{rclcpp::init(argc,argv);rclcpp::spin(std::make_shared<ProgressActionServer>());rclcpp::shutdown();return 0;
}

关于Python实现代码：

import rclpy
from rclpy.node import Node
from rclpy.action import ActionServer
from base_interfaces.action import Progress
import timeclass ProgressActionServer(Node):def __init__(self):super().__init__("progress_action_server_node_py")self.get_logger().info("client create!(py)")self.server = ActionServer(self,Progress,"get_sum",self.execute_callback)def execute_callback(self,goal_handle):num = goal_handle.request.numsum = 0for i in range(1,num+1):sum += ifeedback = Progress.Feedback()feedback.progress = i /numgoal_handle.publish_feedback(feedback)self.get_logger().info("连续反馈路：%.2f"% feedback.progress)time.sleep(1.0)goal_handle.succeed()result = Progress.Result()result.sum = sumself.get_logger().info("计算结果:%d"% result.sum)return resultdef add(self,request,response):response.sum = request.num1 + request.num2self.get_logger().info("%d + %d = %d" % (request.num1,request.num2,response.sum))return responsedef main():rclpy.init()rclpy.spin(ProgressActionServer())rclpy.shutdown()if __name__ == '__main__':main()

对于客户端，需要实现：提交整型数据，并且处理响应结果

下面是C++实现代码：

#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "base_interfaces/action/progress.hpp"using base_interfaces::action::Progress;using namespace std::chrono_literals;
using std::placeholders::_1;
using std::placeholders::_2;class ProgressActionClient: public rclcpp::Node{
public:ProgressActionClient():Node("progress_action_client_node_cpp"){RCLCPP_INFO(this->get_logger(),"Action Client create");client_ = rclcpp_action::create_client<Progress>(this,"get_sum");//创建客户端}//发送目标
void send_goal(int num){//确保连接到服务端if(!client_->wait_for_action_server(10s)){RCLCPP_ERROR(this->get_logger(),"服务链接失败！");return;}// 发送请求auto goal = Progress::Goal();goal.num = num;rclcpp_action::Client<Progress>::SendGoalOptions options;options.goal_response_callback = std::bind(&ProgressActionClient::goal_response_callback,this,_1);options.feedback_callback = std::bind(&ProgressActionClient::feedback_callback,this,_1,_2);options.result_callback = std::bind(&ProgressActionClient::result_callback,this,_1);auto future = client_->async_send_goal(goal,options);
}void goal_response_callback(rclcpp_action::ClientGoalHandle<Progress>::SharedPtr goal_handle){if(!goal_handle){RCLCPP_INFO(this->get_logger(),"目标请求被拒绝");}else{RCLCPP_INFO(this->get_logger(),"目标处理中");}}
void feedback_callback(rclcpp_action::ClientGoalHandle<Progress>::SharedPtr goal_handle,const std::shared_ptr<const Progress::Feedback> feedback){(void)goal_handle;double progress = feedback->progress;int pro = (int) (progress*100);RCLCPP_INFO(this->get_logger(),"当前进度：%d%%",pro);
}
void result_callback(const rclcpp_action::ClientGoalHandle<Progress>::WrappedResult & result){//result.codeif(result.code == rclcpp_action::ResultCode::SUCCEEDED){RCLCPP_INFO(this->get_logger(),"最总结果:%d",result.result->sum);}else if (result.code == rclcpp_action::ResultCode::ABORTED){RCLCPP_INFO(this->get_logger(),"被阻断");/* code */}else if (result.code == rclcpp_action::ResultCode::CANCELED){RCLCPP_INFO(this->get_logger(),"未知异常！");/* code */}}
private:rclcpp_action::Client<Progress>::SharedPtr client_;
};int main(int argc, char ** argv)
{rclcpp::init(argc,argv);if (argc != 2){RCLCPP_ERROR(rclcpp::get_logger("rclcpp"),"ERROR:need two ints");return 1 ;/* code */}auto node = std::make_shared<ProgressActionClient>();node->send_goal(atoi(argv[1]));rclcpp::spin(node);rclcpp::shutdown();return 0;
}

下面是Python实现代码：

import rclpy
from rclpy.node import Node
import sys
from rclpy.logging import get_logger
from rclpy.action import ActionClient
from base_interfaces.action import Progressclass ProgressActionClient(Node):def __init__(self):super().__init__("progress_action_client_node_py")self.get_logger().info("server create!(py)")self.client = ActionClient(self,Progress,"get_sum")#话题名称为get_sum 服务端和客户端要一致def send_goal(self,num):# 连接服务端self.client.wait_for_server()# 发送请求goal = Progress.Goal()goal.num = numself.future = self.client.send_goal_async(goal,self.fb_callback)self.future.add_done_callback(self.goal_response_callback)def goal_response_callback(self,future):# 获取目标句并goal_handle = future.result()# 判断目标是否正常处理if not goal_handle.accepted:self.get_logger().error("目标被拒绝")returnself.get_logger().info("目标被接受，正在处理中")self.result_future = goal_handle.get_result_async()self.result_future.add_done_callback(self.get_result_callback)# 回调函数：def fb_callback(self,fb_msg):progress = fb_msg.feedback.progressself.get_logger().info("连续反馈数据：%.2f"% progress)# 目标最终响应结果# def get_result_callback(self,future):result = future.result().resultself.get_logger().info("最终结果：%d"%result.sum)def main():rclpy.init()if len(sys.argv) != 2:get_logger("rclpy").error("清提交一个整形数据")returnaction_client = ProgressActionClient()action_client.send_goal(int(sys.argv[1]))rclpy.spin(action_client)rclpy.shutdown()if __name__ == '__main__':main()

给出C++实现中，需要修改的Cmakelist文件:

cmake_minimum_required(VERSION 3.8)
project(cpp03_action)if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")add_compile_options(-Wall -Wextra -Wpedantic)
endif()# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(base_interfaces REQUIRED)add_executable(demo01_action_server src/demo01_action_server.cpp)
add_executable(demo02_action_client src/demo02_action_client.cpp)target_include_directories(demo01_action_server PUBLIC$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>$<INSTALL_INTERFACE:include>)
target_compile_features(demo01_action_server PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
ament_target_dependencies(demo01_action_server"rclcpp""rclcpp_action""base_interfaces"
)ament_target_dependencies(demo02_action_client"rclcpp""rclcpp_action""base_interfaces"
)install(TARGETS demo01_action_serverDESTINATION lib/${PROJECT_NAME})install(TARGETS demo02_action_clientDESTINATION lib/${PROJECT_NAME})if(BUILD_TESTING)find_package(ament_lint_auto REQUIRED)# the following line skips the linter which checks for copyrights# comment the line when a copyright and license is added to all source filesset(ament_cmake_copyright_FOUND TRUE)# the following line skips cpplint (only works in a git repo)# comment the line when this package is in a git repo and when# a copyright and license is added to all source filesset(ament_cmake_cpplint_FOUND TRUE)ament_lint_auto_find_test_dependencies()
endif()ament_package()

Python的setup.py文件：

from setuptools import find_packages, setuppackage_name = 'py03_action'setup(name=package_name,version='0.0.0',packages=find_packages(exclude=['test']),data_files=[('share/ament_index/resource_index/packages',['resource/' + package_name]),('share/' + package_name, ['package.xml']),],install_requires=['setuptools'],zip_safe=True,maintainer='xwh',maintainer_email='xwh@todo.todo',description='TODO: Package description',license='TODO: License declaration',tests_require=['pytest'],entry_points={'console_scripts': ['demo01_action_server_py = py03_action.demo01_action_server_py:main','demo02_action_client_py = py03_action.demo02_action_client_py:main'],},
)

先：colcon build --packages-select cpp03_action

. install/setup.bash

分别打开两个终端：

1、ros2 run cpp03_action demo01_action_server

2、ros2 run cpp03_action demo02_action_client 10

 给出C++下实现的结果：

先：colcon build --packages-select cpp03_action

. install/setup.bash

分别打开两个终端：

1、ros2 run py03_action demo01_action_server_py

2、ros2 run py03_action demo02_action_client_py 15

给出Python环境下的结果：

关于博主在学习时候，遇到的坑

在修改py的package.xml中 注意标点符号的使用 
            'demo01_talker_str_py = py01_topic.demo01_talker_str_py:main',
            'demo02_listener_str_py = py01_topic.demo02_listener_str_py:main',
            'demo03_talker_stu_py = py01_topic.demo03_talker_stu_py:main',
            'demo04_listener_stu_py = py01_topic.demo04_listener_stu_py:main'
            如果没有后面的逗号 是无法执行ros2 run---

在写完好service.cpp文件后 利用终端进行发送订阅的数据
ros2 service call /add_ints base_interfaces/srv/Addints "{'num1':10,'num2':20}"

在action中的 客户端在终端中 输入的指令为：
ros2 action send_goal /get_sum base_interfaces/action/Progress -f "{'num':10}"

上面仅仅只是代码，如果只看代码是无法完全了解的，建议跟着赵老师视频学习，并且自己手敲几遍，熟悉熟悉。

所谓，键盘敲烂，年薪千万。（改用赵老师的话送给大家，希望看到这里的各位将来都能找到心满意足的好工作！）

http://www.lryc.cn/news/572514.html

相关文章：

  • C#建立与数据库连接（版本问题的解决方案）踩坑总结
  • E结构体基础.go
  • 67、数据访问-crud实验-分页数据展示
  • ROS学习之服务通信
  • flink的多种部署模式
  • 【LLM学习笔记3】搭建基于chatgpt的问答系统（下）
  • 面试-操作系统
  • 【Dify 沙箱网络问题排查与解决】
  • 工程师生活：清除电热水壶（锅）水垢方法
  • 3DTiles三维模型
  • Python-循环结构解析
  • windows 11 安装和配置 WSL #1 Ubuntu
  • 30.all和any
  • 动态规划：01 背包（闫氏DP分析法）
  • python脚本间的相互调用
  • 磐基PaaS平台MongoDB组件SSPL许可证风险与合规性分析（上）
  • Git(三)：分支管理
  • 达梦数据库锁超时问题
  • 使用Dagster资产工厂模式高效管理重复ETL任务
  • 识别网络延迟与带宽瓶颈
  • M1芯片macOS安装Xinference部署大模型
  • Datawhale 网络爬虫技术入门第2次笔记
  • QT6与VS下实现没有CMD窗口的C++控制台程序
  • 日本生活：日语语言学校-日语作文-沟通无国界（３）-题目：わたしの友達
  • 编程马拉松的定义、运作与发展
  • C语言标准I/O库详解：文件操作与缓冲区机制
  • Qt蓝图式技能编辑器状态机模块设计与实现
  • html实现登录与注册功能案例（不写死且只使用js）
  • 深入解析select模型：FD_SET机制与1024限制的终极指南
  • Linux系统远程操作和程序编译