actionlib 举例

 catkin_create_pkg learning_actionlib actionlib message_generation roscpp rospy std_msgs actionlib_msgs

action_client.cpp

/*
下面显示怎样给名字为 "do_dishes"的DoDishes ActionServer 发送goal

*/
#include <learning_actionlib/DoDishesAction.h>
#include <actionlib/client/simple_action_client.h>

typedef actionlib::SimpleActionClient<learning_actionlib::DoDishesAction> Client;

int main(int argc, char** argv)
{
  ros::init(argc, argv, "do_dishes_client");
  Client client("do_dishes", true); // true -> don't need ros::spin()
  client.waitForServer();
  learning_actionlib::DoDishesGoal goal;
  // Fill in goal here
  client.sendGoal(goal);
  client.waitForResult(ros::Duration(5.0));
  if (client.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
    printf("Yay! The dishes are now clean");
  printf("Current State: %s\n", client.getState().toString().c_str());
  return 0;
}

action_server.cpp

#include <learning_actionlib/DoDishesAction.h>
#include <actionlib/server/simple_action_server.h>

typedef actionlib::SimpleActionServer<learning_actionlib::DoDishesAction> Server;

void execute(const learning_actionlib::DoDishesGoalConstPtr& goal, Server* as)
{
  // Do lots of awesome groundbreaking robot stuff here
  as->setSucceeded();
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "do_dishes_server");
  ros::NodeHandle n;
  Server server(n, "do_dishes", boost::bind(&execute, _1, &server), false);
  server.start();
  ros::spin();
  return 0;
}