def init_rec_odom_action_client(self):
self._rec_odom_action_client = actionlib.SimpleActionClient(
'/rec_odom_as', record_odomAction)
# waits until the action server is up and running
rospy.loginfo('Waiting for action Server')
self._rec_odom_action_client.wait_for_server()
rospy.loginfo('Action Server Found...')
self._rec_odom_action_goal = record_odomGoal()
def _call_server(self):
goal = record_odomGoal()
self._action_client.send_goal(goal)
rate = rospy.Rate(1)
state = self._action_client.get_state()
while state < DONE:
rospy.loginfo("Waiting for server to return result")
rate.sleep()
state = self._action_client.get_state()
rospy.loginfo("[Result] State: " + str(state))
if state == 4:
rospy.logerr("Something went wrong in the Server Side")
if state == 3:
rospy.logwarn("There is a warning in the Server Side")
result = self._action_client.get_result()
rospy.loginfo("Result: " + str(result))
# initializes the action client node
rospy.init_node('record_odom_action_client_node')
# create the connection to the action server
client = actionlib.SimpleActionClient('/rec_odom_as', record_odomAction)
rate = rospy.Rate(1)
# waits until the action server is up and running
rospy.loginfo('Waiting for action Server')
client.wait_for_server()
rospy.loginfo('Action Server Found...')
# creates a goal to send to the action server
goal = record_odomGoal()
# sends the goal to the action server, specifying which feedback function
# to call when feedback received
client.send_goal(goal, feedback_cb=feedback_callback)
# simple_state will be 1 if active, and 2 when finished. It's a variable, better use a function like get_state.
#state = client.simple_state
# state_result will give the FINAL STATE. Will be 1 when Active, and 2 if NO ERROR, 3 If Any Warning, and 3 if ERROR
state_result = client.get_state()
"""
class SimpleGoalState:
PENDING = 0
def send_goal_to_action_server(self):
goal = record_odomGoal()
self.action_client.send_goal(goal,
feedback_cb=self.action_feedback_callback)
def init_action_client(self,action_name = '/my_sphero_Ac_server'):
self.action_client = actionlib.SimpleActionClient(action_name, record_odomAction)
rospy.loginfo('Waiting for action Server')
self.action_client.wait_for_server()
rospy.loginfo('Action Server Found...')
self._goal_object = record_odomGoal()