async def send_goal(self):
self.get_logger().info('Waiting for action server...')
self._action_client.wait_for_server()
goal_msg = Fibonacci.Goal()
goal_msg.order = 10
self.get_logger().info('Sending goal request...')
goal_handle = await self._action_client.send_goal_async(
goal_msg, feedback_callback=self.feedback_callback)
if not goal_handle.accepted:
self.get_logger().info('Goal rejected :(')
return
self.get_logger().info('Goal accepted :)')
res = await goal_handle.get_result_async()
result = res.result
status = res.status
if status == GoalStatus.STATUS_SUCCEEDED:
self.get_logger().info('Goal succeeded! Result: {0}'.format(
result.sequence))
else:
self.get_logger().info(
'Goal failed with status: {0}'.format(status))
return result, status
def send_goal(self):
self.get_logger().info('waiting...')
self._action_client.wait_for_server()
goal_msg = Fibonacci.Goal()
goal_msg.order = 10
self._send_goal_future = self._action_client.send_goal_async(
goal_msg, feedback_callback=self.feedback_callback)
self._send_goal_future.add_done_callback(self.goal_response_callback)
def send_goal(self):
self.get_logger().info('waiting...')
self._action_client.wait_for_server()
# 10要素のフィボナッチ数列を標値に設定
goal_msg = Fibonacci.Goal()
goal_msg.order = 10
# アクションの非同期実行
# （フィードバックと実行結果の受信コールバック関数も設定）
self._send_goal_future = self._action_client.send_goal_async(
goal_msg, feedback_callback=self.feedback_callback)
self._send_goal_future.add_done_callback(
self.goal_response_callback)
def main(args=None):
rclpy.init(args=args)
node = rclpy.create_node('minimal_action_client')
action_client = ActionClient(node, Fibonacci, 'fibonacci')
node.get_logger().info('Waiting for action server...')
action_client.wait_for_server()
goal_msg = Fibonacci.Goal()
goal_msg.order = 10
node.get_logger().info('Sending goal request...')
send_goal_future = action_client.send_goal_async(
goal_msg,
feedback_callback=lambda feedback: feedback_cb(node.get_logger(),
feedback))
rclpy.spin_until_future_complete(node, send_goal_future)
goal_handle = send_goal_future.result()
if not goal_handle.accepted:
node.get_logger().info('Goal rejected :(')
action_client.destroy()
node.destroy_node()
rclpy.shutdown()
return
node.get_logger().info('Goal accepted :)')
get_result_future = goal_handle.get_result_async()
rclpy.spin_until_future_complete(node, get_result_future)
result = get_result_future.result().result
status = get_result_future.result().status
if status == GoalStatus.STATUS_SUCCEEDED:
node.get_logger().info('Goal succeeded! Result: {0}'.format(
result.sequence))
else:
node.get_logger().info(
'Goal failed with status code: {0}'.format(status))
action_client.destroy()
node.destroy_node()
rclpy.shutdown()
def send_goal(self, order):
# self.get_logger().info('Waiting for action server '+self._server_name)
print('Waiting for action server ' + self._server_name)
self._action_client.wait_for_server()
goal_msg = Fibonacci.Goal()
goal_msg.order = order
# self.get_logger().info('Sending goal request to '+self._server_name)
print('Sending goal request to ' + self._server_name)
self._send_goal_future = self._action_client.send_goal_async(
goal_msg, feedback_callback=self.feedback_callback)
self._send_goal_future.add_done_callback(self.goal_response_callback)
def send_goal(self):
self.logger.info('waiting...')
while not self._cli.wait_for_server(timeout_sec=1.0):
self.logger.info("Waiting for \"fibonacci\" server...")
# 10要素のフィボナッチ数列を標値に設定
goal_msg = Fibonacci.Goal()
goal_msg.order = 10
# アクションの非同期実行
# （フィードバックと実行結果の受信コールバック関数も設定）
goal = goal_msg
feedback_callback = self._feedback_callback
self._goal_future = self._cli.send_goal_async(goal, feedback_callback)
callback = self._goal_response_callback
self._goal_future.add_done_callback(callback)