04-actionlib入门-新建action client

代码可在 actionlib_tutorials 软件包中可见，可以以先阅读 actionlib 软件包再开始教程。

代码

下面的代码在actionlib_tutorials/simple_action_client/fibonacci_client.py中：

#! /usr/bin/env python
# -*- coding: utf-8 -*-
import roslib; roslib.load_manifest('actionlib_tutorials')
import rospy

# Brings in the SimpleActionClient
import actionlib

# Brings in the messages used by the fibonacci action, including the
# goal message and the result message.
import actionlib_tutorials.msg

def fibonacci_client():
    # Creates the SimpleActionClient, passing the type of the action
    # (FibonacciAction) to the constructor.
    client = actionlib.SimpleActionClient('fibonacci', actionlib_tutorials.msg.FibonacciAction)

    # Waits until the action server has started up and started
    # listening for goals.
    client.wait_for_server()

    # Creates a goal to send to the action server.
    goal = actionlib_tutorials.msg.FibonacciGoal(order=20)

    # Sends the goal to the action server.
    client.send_goal(goal)

    # Waits for the server to finish performing the action.
    client.wait_for_result()

    # Prints out the result of executing the action
    return client.get_result()  # A FibonacciResult

if __name__ == '__main__':
    try:
        # Initializes a rospy node so that the SimpleActionClient can
        # publish and subscribe over ROS.
        rospy.init_node('fibonacci_client_py')
        result = fibonacci_client()
        print "Result:", ', '.join([str(n) for n in result.sequence])
    except rospy.ROSInterruptException:
        print "program interrupted before completion"

运行客户端程序

$ roscore
$ rosmake actionlib_tutorials
$ rosrun actionlib_tutorials fibonacci_server
$ rosrun actionlib_tutorials fibonacci_client.py