C++ actionlib::SimpleActionClient类代码示例

    // move platform server receives a new goal
    void moveGoalCB()
    {
        set_terminal_state_ = true;

        move_goal_.nav_goal = as_.acceptNewGoal()->nav_goal;
        ROS_INFO_STREAM_NAMED(logger_name_, "Received Goal #" <<move_goal_.nav_goal.header.seq);

        if (as_.isPreemptRequested() ||!ros::ok())
        {
            ROS_WARN_STREAM_NAMED(logger_name_, "Preempt Requested on goal #" << move_goal_.nav_goal.header.seq);
            if (planning_)
                ac_planner_.cancelGoalsAtAndBeforeTime(ros::Time::now());
            if (controlling_)
                ac_control_.cancelGoalsAtAndBeforeTime(ros::Time::now());
            move_result_.result_state = 0;
            move_result_.error_string = "Preempt Requested!!!";
            as_.setPreempted(move_result_);
            return;
        }

        // Convert move goal to plan goal
        pose_goal_.pose_goal = move_goal_.nav_goal;

        if (planner_state_sub.getNumPublishers()==0)
        {
            ROS_WARN_STREAM_NAMED(logger_name_, "Goal #" << move_goal_.nav_goal.header.seq << " not sent - planner is down");
            planning_ = false;
            move_result_.result_state = 0;
            move_result_.error_string = "Planner is down";
            as_.setAborted(move_result_);
        }
        else
        {
            ac_planner_.sendGoal(pose_goal_, boost::bind(&MovePlatformAction::planningDoneCB, this, _1, _2),
                                 actionlib::SimpleActionClient<oea_planner::planAction>::SimpleActiveCallback(),
                                 actionlib::SimpleActionClient<oea_planner::planAction>::SimpleFeedbackCallback());
            planning_ = true;
            ROS_DEBUG_STREAM_NAMED(logger_name_, "Goal #" << move_goal_.nav_goal.header.seq << " sent to planner");
        }
        return;
    }

    void planningDoneCB(const actionlib::SimpleClientGoalState& state, const oea_planner::planResultConstPtr &result)
    {
        planning_ = false;
        ROS_DEBUG_STREAM_NAMED(logger_name_, "Plan Action finished: " << state.toString());

        move_result_.result_state = result->result_state;

        if (move_result_.result_state) //if plan OK
        {
            planned_path_goal_.plan_goal = result->planned_path; // goal for the controller is result of the planner

            if (ctrl_state_sub.getNumPublishers()==0)
            {
                ROS_WARN_STREAM_NAMED(logger_name_, "Goal #" << move_goal_.nav_goal.header.seq << " not sent - Controller is down");
                controlling_ = false;
                move_result_.result_state = 0;
                move_result_.error_string = "Controller is down!!!";
                as_.setAborted(move_result_);
            }
            else
            {
                ac_control_.sendGoal(planned_path_goal_, boost::bind(&MovePlatformAction::ControlDoneCB, this, _1, _2),
                                     actionlib::SimpleActionClient<oea_controller::controlPlatformAction>::SimpleActiveCallback(),
                                     actionlib::SimpleActionClient<oea_controller::controlPlatformAction>::SimpleFeedbackCallback()); //boost::bind(&MovePlatformAction::ControlFeedbackCB, this,_1));
                controlling_ = true;
                ROS_DEBUG_STREAM_NAMED(logger_name_,"Goal #" << move_goal_.nav_goal.header.seq << " sent to Controller");
            }
        }
        else //if plan NOT OK
        {
            ac_control_.cancelGoalsAtAndBeforeTime(ros::Time::now());

            move_result_.error_string = "Planning Failed: " + result->error_string;
            ROS_WARN_STREAM_NAMED(logger_name_, "Aborting because " << move_result_.error_string);

            as_.setAborted(move_result_);
        }
        return;

    }

void actualizeGoal(ros::NodeHandle& nh,
                   actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction>& client,
                   arm_navigation_msgs::MoveArmGoal goal) {
  if (nh.ok())
  {
    bool finished_within_time = false;
    client.sendGoal(goal);
    finished_within_time = client.waitForResult(ros::Duration(200.0));
    if (!finished_within_time)
    {
      client.cancelGoal();
      ROS_INFO("Timed out achieving goal");
    }
    else
    {
      actionlib::SimpleClientGoalState state = client.getState();
      bool success = (state == actionlib::SimpleClientGoalState::SUCCEEDED);
      if(success)
        ROS_INFO("Action finished: %s",state.toString().c_str());
      else
        ROS_INFO("Action failed: %s",state.toString().c_str());
    }
  } 
}

int ArmMotionCommander::rt_arm_plan_jspace_path_current_to_qgoal(Eigen::VectorXd q_des_vec) {    
    ROS_INFO("requesting a joint-space motion plan");
    cart_goal_.command_code = cwru_action::cwru_baxter_cart_moveGoal::RT_ARM_PLAN_JSPACE_PATH_CURRENT_TO_QGOAL;
    cart_goal_.q_goal_right.resize(7);
    for (int i=0;i<7;i++) cart_goal_.q_goal_right[i] = q_des_vec[i]; //specify the goal js pose
    cart_move_action_client_.sendGoal(cart_goal_, boost::bind(&ArmMotionCommander::doneCb_, this, _1, _2)); // we could also name additional callback functions here, if desired
    finished_before_timeout_ = cart_move_action_client_.waitForResult(ros::Duration(2.0));
    ROS_INFO("return code: %d",cart_result_.return_code);
    if (!finished_before_timeout_) {
            ROS_WARN("giving up waiting on result");
            return (int) cwru_action::cwru_baxter_cart_moveResult::NOT_FINISHED_BEFORE_TIMEOUT;
        } 
    
    ROS_INFO("finished before timeout");
    if (cart_result_.return_code==cwru_action::cwru_baxter_cart_moveResult::RT_ARM_PATH_NOT_VALID) {
        ROS_WARN("right arm plan not valid");
        return (int) cart_result_.return_code;
    }
    if (cart_result_.return_code!=cwru_action::cwru_baxter_cart_moveResult::SUCCESS) {
        ROS_WARN("unknown return code... not SUCCESS");
        return (int) cart_result_.return_code;            
    }   
 
    //here if success return code
    ROS_INFO("returned SUCCESS from planning request");
    computed_arrival_time_= cart_result_.computed_arrival_time; //action_client.get_computed_arrival_time();
    ROS_INFO("computed move time: %f",computed_arrival_time_);
    return (int) cart_result_.return_code;    
    
}

int ArmMotionCommander::rt_arm_plan_path_current_to_goal_pose(geometry_msgs::PoseStamped des_pose) {
    
    ROS_INFO("requesting a cartesian-space motion plan");
    cart_goal_.command_code = cwru_action::cwru_baxter_cart_moveGoal::RT_ARM_PLAN_PATH_CURRENT_TO_GOAL_POSE;
    cart_goal_.des_pose_gripper_right = des_pose;
    cart_move_action_client_.sendGoal(cart_goal_, boost::bind(&ArmMotionCommander::doneCb_, this, _1, _2)); // we could also name additional callback functions here, if desired
    finished_before_timeout_ = cart_move_action_client_.waitForResult(ros::Duration(2.0));
    ROS_INFO("return code: %d",cart_result_.return_code);
    if (!finished_before_timeout_) {
            ROS_WARN("giving up waiting on result");
            return (int) cwru_action::cwru_baxter_cart_moveResult::NOT_FINISHED_BEFORE_TIMEOUT;
        } 
    
    ROS_INFO("finished before timeout");
    if (cart_result_.return_code==cwru_action::cwru_baxter_cart_moveResult::RT_ARM_PATH_NOT_VALID) {
        ROS_WARN("right arm plan not valid");
        return (int) cart_result_.return_code;
    }
    if (cart_result_.return_code!=cwru_action::cwru_baxter_cart_moveResult::SUCCESS) {
        ROS_WARN("unknown return code... not SUCCESS");
        return (int) cart_result_.return_code;            
    }   
 
    //here if success return code
    ROS_INFO("returned SUCCESS from planning request");
    computed_arrival_time_= cart_result_.computed_arrival_time; //action_client.get_computed_arrival_time();
    ROS_INFO("computed move time: %f",computed_arrival_time_);
    return (int) cart_result_.return_code;        
}

int ArmMotionCommander::rt_arm_plan_path_current_to_goal_dp_xyz(Eigen::Vector3d dp_displacement) {
    
    ROS_INFO("requesting a cartesian-space motion plan along vector");
    cart_goal_.command_code = cwru_action::cwru_baxter_cart_moveGoal::RT_ARM_PLAN_PATH_CURRENT_TO_GOAL_DP_XYZ;
    //must fill in desired vector displacement
    cart_goal_.arm_dp_right.resize(3);
    for (int i=0;i<3;i++) cart_goal_.arm_dp_right[i] = dp_displacement[i];
    cart_move_action_client_.sendGoal(cart_goal_, boost::bind(&ArmMotionCommander::doneCb_, this, _1, _2)); // we could also name additional callback functions here, if desired
    finished_before_timeout_ = cart_move_action_client_.waitForResult(ros::Duration(2.0));
    ROS_INFO("return code: %d",cart_result_.return_code);
    if (!finished_before_timeout_) {
            ROS_WARN("giving up waiting on result");
            return (int) cwru_action::cwru_baxter_cart_moveResult::NOT_FINISHED_BEFORE_TIMEOUT;
        } 
    
    ROS_INFO("finished before timeout");
    if (cart_result_.return_code==cwru_action::cwru_baxter_cart_moveResult::RT_ARM_PATH_NOT_VALID) {
        ROS_WARN("right arm plan not valid");
        return (int) cart_result_.return_code;
    }
    if (cart_result_.return_code!=cwru_action::cwru_baxter_cart_moveResult::SUCCESS) {
        ROS_WARN("unknown return code... not SUCCESS");
        return (int) cart_result_.return_code;            
    }   
 
    //here if success return code
    ROS_INFO("returned SUCCESS from planning request");
    computed_arrival_time_= cart_result_.computed_arrival_time; //action_client.get_computed_arrival_time();
    ROS_INFO("computed move time: %f",computed_arrival_time_);
    return (int) cart_result_.return_code;      
}

int ArmMotionCommander::rt_arm_request_tool_pose_wrt_torso(void) {
    // debug: compare this to output of:
    //rosrun tf tf_echo torso yale_gripper_frame
    ROS_INFO("requesting right-arm tool pose");    
    cart_goal_.command_code = cwru_action::cwru_baxter_cart_moveGoal::RT_ARM_GET_TOOL_POSE;
    cart_move_action_client_.sendGoal(cart_goal_, boost::bind(&ArmMotionCommander::doneCb_, this, _1, _2)); // we could also name additional callback functions here, if desired
    finished_before_timeout_ = cart_move_action_client_.waitForResult(ros::Duration(2.0));
   if (!finished_before_timeout_) {
        ROS_WARN("did not respond within timeout");
        return (int) cwru_action::cwru_baxter_cart_moveResult::NOT_FINISHED_BEFORE_TIMEOUT;  
    }
    if (cart_result_.return_code!=cwru_action::cwru_baxter_cart_moveResult::SUCCESS) {
        ROS_WARN("move did not return success; code = %d",cart_result_.return_code);
        return (int) cart_result_.return_code;
    }    
    
        tool_pose_stamped_ = cart_result_.current_pose_gripper_right;
        ROS_INFO("move returned success; right arm tool pose: ");
        ROS_INFO("origin w/rt torso = %f, %f, %f ",tool_pose_stamped_.pose.position.x,
                tool_pose_stamped_.pose.position.y,tool_pose_stamped_.pose.position.z);
        ROS_INFO("quaternion x,y,z,w: %f, %f, %f, %f",tool_pose_stamped_.pose.orientation.x,
                tool_pose_stamped_.pose.orientation.y,tool_pose_stamped_.pose.orientation.z,
                tool_pose_stamped_.pose.orientation.w);
  return (int) cart_result_.return_code;
}

    MovePlatformAction() :
        as_(n_, CARLOS_MOVE_ACTION, false), //movePlatform action SERVER
        ac_planner_("/plan_action", true), // Planner action CLIENT
        ac_control_("/control_action", true) // Controller action CLIENT
    {

        n_.param("/move_platform_server/debug", debug_, false);

        std::string name = ROSCONSOLE_DEFAULT_NAME; //ros.carlos_motion_action_server
        name = name  + ".debug";
        logger_name_ = "debug";
        //logger is ros.carlos_motion_action_server.debug

        if (debug_)
        {
            // if we use ROSCONSOLE_DEFAULT_NAME we'll get a ton of debug messages from actionlib which is annoying!!!
            // so for debug we'll use a named logger
            if(ros::console::set_logger_level(name, ros::console::levels::Debug)) //name
                ros::console::notifyLoggerLevelsChanged();
        }
        else // if not DEBUG we want INFO
        {
            if(ros::console::set_logger_level(name, ros::console::levels::Info)) //name
                ros::console::notifyLoggerLevelsChanged();
        }

        ROS_DEBUG_NAMED(logger_name_, "Starting Move Platform Server");

        as_.registerGoalCallback(boost::bind(&MovePlatformAction::moveGoalCB, this));
        as_.registerPreemptCallback(boost::bind(&MovePlatformAction::movePreemptCB, this));

        //start the move server
        as_.start();
        ROS_DEBUG_NAMED(logger_name_, "Move Platform Action Server Started");

        // now wait for the other servers (planner + controller) to start
        ROS_WARN_NAMED(logger_name_, "Waiting for planner server to start");
        ac_planner_.waitForServer();
        ROS_INFO_STREAM_NAMED(logger_name_, "Planner server started: " <<  ac_planner_.isServerConnected());

        ROS_WARN_NAMED(logger_name_, "Waiting for controller server to start");
        ac_control_.waitForServer();
        ROS_INFO_STREAM_NAMED(logger_name_, "Controller server started: " <<  ac_control_.isServerConnected());

        n_.param("/carlos/fsm_frequency", frequency_, DEFAULT_STATE_FREQ);
        state_pub_timer_ = n_.createTimer(frequency_, &MovePlatformAction::state_pub_timerCB, this);
        state_pub_ = n_.advertise<mission_ctrl_msgs::hardware_state>(CARLOS_BASE_STATE_MSG,1);

        planning_ = false;
        controlling_ = false;
        //set_terminal_state_;
        ctrl_state_sub = n_.subscribe<std_msgs::String>("/oea_controller/controller_state", 5, &MovePlatformAction::control_stateCB, this);
        planner_state_sub = n_.subscribe<std_msgs::UInt8>("/oea_planner/state", 5, &MovePlatformAction::planner_stateCB, this);

    }

  BlockManipulationAction() : 
    block_detection_action_("block_detection", true),
    interactive_manipulation_action_("interactive_manipulation", true),
    pick_and_place_action_("pick_and_place", true),
    reset_arm_action_("reset_arm", true)
  {
    // Load parameters
    nh_.param<std::string>("/block_manipulation_action_demo/arm_link", arm_link, "/base_link");
    nh_.param<double>("/block_manipulation_action_demo/gripper_open", gripper_open, 0.042);
    nh_.param<double>("/block_manipulation_action_demo/gripper_closed", gripper_closed, 0.024);
    nh_.param<double>("/block_manipulation_action_demo/z_up", z_up, 0.12);
    nh_.param<double>("/block_manipulation_action_demo/table_height", z_down, 0.01);
    nh_.param<double>("/block_manipulation_action_demo/block_size", block_size, 0.03);
    
    nh_.param<bool>("once", once, false);

	ROS_INFO("Block size %f", block_size);
	ROS_INFO("Table height %f", z_down);
		
    // Initialize goals
    block_detection_goal_.frame = arm_link;
    block_detection_goal_.table_height = z_down;
    block_detection_goal_.block_size = block_size;

	
    
    pick_and_place_goal_.frame = arm_link;
    pick_and_place_goal_.z_up = z_up;
    pick_and_place_goal_.gripper_open = gripper_open;
    pick_and_place_goal_.gripper_closed = gripper_closed;
    pick_and_place_goal_.topic = pick_and_place_topic;
    
    interactive_manipulation_goal_.block_size = block_size;
    interactive_manipulation_goal_.frame = arm_link;
    
    ROS_INFO("Finished initializing, waiting for servers...");
    
    block_detection_action_.waitForServer();
    ROS_INFO("Found block detection server.");
    
    interactive_manipulation_action_.waitForServer();
    ROS_INFO("Found interactive manipulation.");
    
    pick_and_place_action_.waitForServer();
    ROS_INFO("Found pick and place server.");
    
    ROS_INFO("Found servers.");
    
    reset_arm_action_.sendGoal(simple_arm_actions::ResetArmGoal());
    
    ROS_INFO("Reseted arm action.");

    detectBlocks();
  }

void ArmMotionCommander::send_test_goal(void) {
    ROS_INFO("sending a test goal");
    cart_goal_.command_code = cwru_action::cwru_baxter_cart_moveGoal::ARM_TEST_MODE;
    cart_move_action_client_.sendGoal(cart_goal_, boost::bind(&ArmMotionCommander::doneCb_, this, _1, _2)); // we could also name additional callback functions here, if desired

    finished_before_timeout_ = cart_move_action_client_.waitForResult(ros::Duration(2.0));
        //bool finished_before_timeout = action_client.waitForResult(); // wait forever...
    if (!finished_before_timeout_) {
            ROS_WARN("giving up waiting on result");
        } else {
            ROS_INFO("finished before timeout");
            ROS_INFO("return code: %d",cart_result_.return_code);
        }        
}

int ArmMotionCommander::rt_arm_execute_planned_path(void) {
    ROS_INFO("requesting execution of planned path");
    cart_goal_.command_code = cwru_action::cwru_baxter_cart_moveGoal::RT_ARM_EXECUTE_PLANNED_PATH;
    cart_move_action_client_.sendGoal(cart_goal_, boost::bind(&ArmMotionCommander::doneCb_, this, _1, _2)); // we could also name additional callback functions here, if desired
    finished_before_timeout_ = cart_move_action_client_.waitForResult(ros::Duration(computed_arrival_time_+2.0));
    if (!finished_before_timeout_) {
        ROS_WARN("did not complete move in expected time");
        return (int) cwru_action::cwru_baxter_cart_moveResult::NOT_FINISHED_BEFORE_TIMEOUT;  
    }
    if (cart_result_.return_code!=cwru_action::cwru_baxter_cart_moveResult::SUCCESS) {
        ROS_WARN("move did not return success; code = %d",cart_result_.return_code);
        return (int) cart_result_.return_code;
    }

    ROS_INFO("move returned success");
    return (int) cart_result_.return_code;
}

	void turn() {
		turtlebot_actions::TurtlebotMoveGoal goal;
		goal.forward_distance = 0;
		goal.turn_distance = M_PI;

		action_client.waitForServer();
		action_client.sendGoal(goal);

		//wait for the action to return
		bool finished_before_timeout = action_client.waitForResult(
				ros::Duration(30.0));

		if (finished_before_timeout) {
			actionlib::SimpleClientGoalState state = action_client.getState();
			ROS_INFO("Action finished: %s", state.toString().c_str());
		} else
			ROS_INFO("Action did not finish before the time out.");
	}

//send goal command to request right-arm joint angles; these will be stored in internal variable
int ArmMotionCommander::rt_arm_request_q_data(void) {
   ROS_INFO("requesting right-arm joint angles");
    cart_goal_.command_code = cwru_action::cwru_baxter_cart_moveGoal::RT_ARM_GET_Q_DATA;
    cart_move_action_client_.sendGoal(cart_goal_, boost::bind(&ArmMotionCommander::doneCb_, this, _1, _2)); // we could also name additional callback functions here, if desired
    finished_before_timeout_ = cart_move_action_client_.waitForResult(ros::Duration(computed_arrival_time_+2.0));
   if (!finished_before_timeout_) {
        ROS_WARN("did not respond within timeout");
        return (int) cwru_action::cwru_baxter_cart_moveResult::NOT_FINISHED_BEFORE_TIMEOUT;  
    }
    if (cart_result_.return_code!=cwru_action::cwru_baxter_cart_moveResult::SUCCESS) {
        ROS_WARN("move did not return success; code = %d",cart_result_.return_code);
        return (int) cart_result_.return_code;
    }
    
    q_vec_ = cart_result_.q_arm_right;
    ROS_INFO("move returned success; right arm angles: ");
    ROS_INFO("%f; %f; %f; %f; %f; %f; %f",q_vec_[0],q_vec_[1],q_vec_[2],q_vec_[3],q_vec_[4],q_vec_[5],q_vec_[6]);
    return (int) cart_result_.return_code;
}

    /**
     * @brief Preempt callback for the server, cancels the current running goal and all associated movement actions.
     */
    void preemptCb(){

        boost::unique_lock<boost::mutex> lock(move_client_lock_);
        move_client_.cancelGoalsAtAndBeforeTime(ros::Time::now());
        ROS_WARN("Current exploration task cancelled");

        if(as_.isActive()){
            as_.setPreempted();
        }

    }

    void movePreemptCB()
    {
        ROS_WARN_STREAM_NAMED(logger_name_, "Preempt Requested");

        if (planning_)
        {
            ROS_DEBUG_NAMED(logger_name_, "Planning - cancelling all plan goals");
            ac_planner_.cancelGoalsAtAndBeforeTime(ros::Time::now());
        }
        if (controlling_)
        {
            ROS_DEBUG_NAMED(logger_name_, "Controlling - cancelling all ctrl goals");
            ac_control_.cancelGoalsAtAndBeforeTime(ros::Time::now());
        }

        move_result_.result_state = 0;
        move_result_.error_string = "Move Platform Preempt Request!";
        as_.setPreempted(move_result_);
        set_terminal_state_ = false;

        return;
    }