def execute_and_wait_for_result(self):
''' Example to show that an action is asynchronous'''
goal = ArdroneGoal()
goal.nseconds = 30
action = self.action_
action.wait_for_server()
action.send_goal(goal, feedback_cb=self.feedback_callback)
while not action.wait_for_result():
rospy.loginfo(
"Doing Stuff while waiting for the Server to give a result...."
)
self.rate_.sleep()
def execute_action_wait_and_stop(self):
''' Example to show that an action is asynchronous'''
goal = ArdroneGoal()
goal.nseconds = 30
action = self.action_
action.wait_for_server()
action.send_goal(goal, feedback_cb=self.feedback_callback)
time.sleep(10)
rospy.loginfo('It is asynchronous!!')
status = action.get_state()
rospy.loginfo('The status is = {:d}'.format(status))
action.cancel_goal() # would cancel the goal 3 seconds after starting
status = action.get_state()
rospy.loginfo('just after cancel = {:d}'.format(status))
time.sleep(2)
status = action.get_state()
rospy.loginfo('The status is = {:d}'.format(status))
def execute_and_wait_for_result(self):
''' Example to show that an action is asynchronous'''
goal = ArdroneGoal()
goal.nseconds = 30
action = self.action_
action.wait_for_server()
action.send_goal(goal, feedback_cb=self.feedback_callback)
action_state = action.get_state()
while action_state < SimpleGoalState.DONE:
rospy.loginfo(
"Doing Stuff while waiting for the Server to give a result...."
)
self.rate_.sleep()
action_state = action.get_state()
rospy.loginfo("action state: {:d}".format(action_state))
def execute_action_wait_and_stop(self):
''' Example to show that an action is asynchronous'''
goal = ArdroneGoal()
goal.nseconds = 30
action = self.action_
action.wait_for_server()
action.send_goal(goal, feedback_cb=self.feedback_callback)
for _ in range(10):
self.rate_.sleep()
self.takeoff_drone()
action_state = action.get_state()
while action_state < SimpleGoalState.DONE:
self.move_drone()
action_state = action.get_state()
self.land_drone()
def feedback_callback(feedback):
global nImage
print('[Feedback] image n.%d received' % nImage)
nImage += 1
# initializes the action client node
rospy.init_node('example_with_waitforresult_action_client_node')
action_server_name = '/ardrone_action_server'
client = actionlib.SimpleActionClient(action_server_name, ArdroneAction)
# waits until the action server is up and running
rospy.loginfo('Waiting for action Server ' + action_server_name)
client.wait_for_server()
rospy.loginfo('Action Server Found...' + action_server_name)
# creates a goal to send to the action server
goal = ArdroneGoal()
goal.nseconds = 10 # indicates, take pictures along 10 seconds
client.send_goal(goal, feedback_cb=feedback_callback)
rate = rospy.Rate(1)
rospy.loginfo("Lets Start The Wait for the Action To finish Loop...")
while not client.wait_for_result():
rospy.loginfo(
"Doing Stuff while waiting for the Server to give a result....")
rate.sleep()
rospy.loginfo("Example with WaitForResult Finished.")
rospy.init_node('drone_action_client')
action_server_name = '/ardrone_action_server'
client = actionlib.SimpleActionClient(action_server_name, ArdroneAction)
move = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
move_msg = Twist()
takeoff = rospy.Publisher('drone/takeoff', Empty, queue_size=1)
takeoff_msg = Empty()
land = rospy.Publisher('drone/land', Empty, queue_size=1)
land_msg = Empty()
rospy.loginfo('Waiting for action server' + action_server_name)
client.wait_for_server()
rospy.loginfo('Action server found-' + action_server_name)
goal = ArdroneGoal()
goal.nseconds = 10
client.send_goal(goal, feedback_cb=feedback_callback)
state_result = client.get_state()
rate = rospy.Rate(1)
rospy.loginfo("state_result: " + str(state_result))
#we takeoff the drone for 3 seconds
i = 0
while not i == 3:
takeoff.publish(takeoff_msg)
rospy.loginfo("Taking off...")
def feedback_callback(feedback):
global nImage
print('[Feedback] image n. %d received' % nImage)
nImage += 1
rospy.init_node('drone_action_client') #initializes the action client node
#create the connection to the action server
client = actionlib.SimpleActionClient('/ardrone_action_server', ArdroneAction)
client.wait_for_server() #waits until the action server is up and running
goal = ArdroneGoal() #creates a goal to send to the action server
goal.nseconds = 10 #indicates the time for taking pictures
#sends the goal to the action server, specifying which feedback function to call when feedback is received
client.send_goal(goal, feedback_cb=feedback_callback)
#goal preemption
#time.sleep(3.0)
#client.cancel_goal() #cancel the goal 3 seconds after starting
#wait until the result is obtained and check status periodically
#in the meantime you can do other stuff
status = client.get_state()
client.wait_for_result()
def feedback_callback(feedback):
global nImage
print('[Feedback] image n.%d received' % nImage)
nImage += 1
client = actionlib.SimpleActionClient('/ardrone_action_server', ArdroneAction)
client.wait_for_server()
takeoff_pub = rospy.Publisher('/drone/takeoff', Empty, queue_size=1)
land_pub = rospy.Publisher('/drone/land', Empty, queue_size=1)
cmd_vel_pub = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
takeoff()
###### goal ######
goal = ArdroneGoal(nseconds=10) #take picture for 10 seconds
client.send_goal(goal, feedback_cb=feedback_callback)
# Uncomment these lines to test goal preemption:
#time.sleep(3.0)
#client.cancel_goal() # would cancel the goal 3 seconds after starting
fly_drone()
while not client.wait_for_result():
rospy.loginfo("State : {}".format(client.get_state()))
rospy.sleep(3)
stop_drone()
land()
###### status ######
# client.wait_for_result()
nImage += 1
rospy.init_node(
'move_photo_drone_action_client') #initializes the action client node
#create the connection to the action server
client = actionlib.SimpleActionClient('/ardrone_action_server', ArdroneAction)
#waits until the action server is up and running
rospy.loginfo('Waiting fo action server')
client.wait_for_server()
rospy.loginfo('Action Server Found')
#creates a goal to send to the action server
goal = ArdroneGoal()
goal.nseconds = 10 #indicates the time for taking pictures
#sends the goal to the action server, specifying which feedback function to call when feedback is received
client.send_goal(goal, feedback_cb=feedback_callback)
rate = rospy.Rate(1)
state_result = client.get_state()
rospy.loginfo("state_result:" + str(state_result))
vel = Twist() #create a var of type Twist
vel.linear.x = 1
vel.angular.z = 0.5
empty = Empty()
def goalHandling(self, client, secondstofly):
goal = ArdroneGoal()
goal.nseconds = secondstofly
client.send_goal(goal, feedback_cb=self.feedback_callback)
