def execute_with_feedback(goal_handle):
try:
goal_handle.publish_feedback('different feedback type')
except TypeError:
feedback = Fibonacci.Feedback()
feedback.sequence = [1, 1, 2, 3]
goal_handle.publish_feedback(feedback)
goal_handle.succeed()
return Fibonacci.Result()
def execute_callback(self, goal_handle):
feedback = Fibonacci.Feedback()
feedback.sequence = [0, 1]
for i in range(1, goal_handle.request.order):
feedback.sequence.append(feedback.sequence[i] + feedback.sequence[i-1])
goal_handle.publish_feedback(feedback)
goal_handle.succeed()
result = Fibonacci.Result()
result.sequence = feedback.sequence
return result
def execute_goal(goal_handle):
goal = goal_handle.request
feedback = Fibonacci.Feedback()
feedback.sequence = [0, 1]
for i in range(1, goal.order):
if not rclpy.ok():
goal_handle.set_aborted()
return Fibonacci.Result()
# Check if the goal was canceled
if goal_handle.is_cancel_requested:
goal_handle.set_canceled()
result = Fibonacci.Result()
result.sequence = feedback.sequence
print('Goal was canceled')
return result
# Update the sequence.
feedback.sequence.append(feedback.sequence[i] +
feedback.sequence[i - 1])
# Publish feedback
goal_handle.publish_feedback(feedback)
print('Publishing feedback')
# 10 Hz update rate
time.sleep(0.1)
# Send final result
result = Fibonacci.Result()
result.sequence = feedback.sequence
goal_handle.set_succeeded()
print('Goal succeeded')
return result
def execute_with_feedback(goal_handle):
feedback = Fibonacci.Feedback()
feedback.sequence = [1, 1, 2, 3]
goal_handle.publish_feedback(feedback)
goal_handle.succeed()
return Fibonacci.Result()
def publish_feedback(self, goal_id):
feedback = Fibonacci.Feedback()
feedback.action_goal_id = goal_id
self.feedback_pub.publish(feedback)
