Hi,
I'm not sure what I've missed here. Simply I have followed the action server/client tutorials and I've extended my own messages so that I can determine if the robot has or has not docked successfully.
I can see that the server is publishing the messages correctly however I must be missing something on the client side because despite setting up the callbacks when sendGoal is called and I can see that the callback is indeed called the message from the server isn't coming through.
Trying to show by example:
Server outputs:
[INFO] [1538084823.620614089]: DockDrive::processBumpChargeEvent [INFO] [1538084823.620698260]: Docked DONE! [ INFO] [1538084823.620843878]:[/fibonacci]: Arrived on docking station successfully. Running
rostopic echo /fibonacci/result shows:
status: goal_id: stamp: secs: 1538084809 nsecs: 414171018 id: "/test_fibonacci-1-1538084809.414171018" status: 3 text: '' result: text: "Arrived on docking station successfully." state: "DONE" Note Result message Text and State are set
On the Client side "Answer" is just a "?". It should read the text part of the result above i.e. "Arrived on docking station successfully."
[ INFO] [1538084809.141452693]: Waiting for action server to start. [ INFO] [1538084809.414082459]: Action server started, sending goal. [ INFO] [1538084809.415720796]: Goal just went active [ INFO] [1538084823.621925341]: Finished in state [SUCCEEDED] **[ INFO] [1538084823.622168467]: Answer: ?** [ INFO] [1538084823.622424793]: Docked OK! [ INFO] [1538084823.622538900]: Action finished: SUCCEEDED The relevant parts of the Client side code:
Callback defined as:
void doneCb(const actionlib::SimpleClientGoalState& state, const AutoDockingResultConstPtr& result) { ROS_INFO("Finished in state [%s]", state.toString().c_str()); ROS_INFO("Answer: %s", result->text); } And the main body of the code is:
void spinThread() { ros::spin(); } int main (int argc, char **argv) { ros::init(argc, argv, "test_fibonacci"); // create the action client // true causes the client to spin it's own thread actionlib::SimpleActionClient<mxnet_actionlib::AutoDockingAction> ac("fibonacci", true); boost::thread spin_thread(&spinThread); ROS_INFO("Waiting for action server to start."); // wait for the action server to start ac.waitForServer(); //will wait for infinite time ROS_INFO("Action server started, sending goal."); // send a goal to the action mxnet_actionlib::AutoDockingGoal goal; // Need to register for feedback ac.sendGoal(goal, &doneCb, &activeCb, &feedbackCb); //wait for the action to return bool finished_before_timeout = ac.waitForResult(); actionlib::SimpleClientGoalState state = ac.getState(); if (state == actionlib::SimpleClientGoalState::LOST) { ROS_INFO("Docking Lost - Attempting Redocking"); } else if (state == actionlib::SimpleClientGoalState::SUCCEEDED) { ROS_INFO("Docked OK!"); } else { ROS_INFO("Docking Failed!"); } if (finished_before_timeout) { actionlib::SimpleClientGoalState state = ac.getState(); ROS_INFO("Action finished: %s",state.toString().c_str()); } else ROS_INFO("Action did not finish before the time out."); return 0; } If someone can see what I've missed here I'd appreciate it.
Many Thanks
Mark
Originally posted by MarkyMark2012 on ROS Answers with karma: 1834 on 2018-09-27
Post score: 0
