from basics.msg import TimerAction, TimerGoal, TimerResult, TimerFeedback
# BEGIN PART_1
def feedback_cb(feedback):
print('[Feedback] Time elapsed: %f' % (feedback.time_elapsed.to_sec()))
print('[Feedback] Time remaining: %f' % (feedback.time_remaining.to_sec()))
# END PART_1
rospy.init_node('timer_action_client')
client = actionlib.SimpleActionClient('timer', TimerAction)
client.wait_for_server()
goal = TimerGoal()
goal.time_to_wait = rospy.Duration.from_sec(5.0)
# BEGIN PART_5
# Uncomment this line to test server-side abort:
goal.time_to_wait = rospy.Duration.from_sec(500.0)
# END PART_5
# BEGIN PART_2
client.send_goal(goal, feedback_cb=feedback_cb)
# END PART_2
# BEGIN PART_4
# Uncomment these lines to test goal preemption:
# time.sleep(3.0)
# client.cancel_goal()
# END PART_4
# 'timer'.
# The second argument is the type of the action,
# which must also match the server:
# TimerAction.
# Having created the client,
# we tell it to wait for the action server to come up,
# which it does by checking for the five advertised topics
# that we saw earlier when testing the server.
# Similar to rospy.wait_for_service(),
# which we used to wait for a service to be ready,
# SimpleActionClient.wait_for_server() will block until
# the server is ready:
goal = TimerGoal() # Now we create a goal of type TimerGoal
# and fill in the amount of time we want the
goal.time_to_wait = rospy.Duration.from_sec(
5.0) # timer to wait, which is five seconds.
client.send_goal(goal) # Then we send the goal,
# which causes the transmission
# of the goal message to the server:
client.wait_for_result() # Next, we wait for a result from the server.
# If things are working properly, we expect to
# block here for about five seconds.
print(
'Time elapsed: %f' %
(client.get_result().time_elapsed.to_sec())) # After the result comes in,
# we use get_result() to retrieve it
# from within the client object and