目标:用 C++ 实现action服务器和客户端。
教程级别:中级
时间: 15分钟
背景
动作是 ROS 中异步通信的一种形式。动作客户端向动作服务器发送目标请求。动作服务器向动作客户端发送目标反馈和结果。
任务
1 创建 action_tutorials_cpp 包
正如我们在创建您的第一个 ROS 2 包教程中看到的那样,我们需要创建一个新包来保存我们的 C++ 和支持代码。
cd ~/action_ws/src ros2 pkg create --dependencies action_tutorials_interfaces rclcpp rclcpp_action rclcpp_components -- action_tutorials_cpp
1.2 添加可见性控制
为了使包在 Windows 上编译和工作,我们需要添加一些“可见性控制”。有关为什么需要这样做的详细信息,请参见此处。
打开action_tutorials_cpp/include/action_tutorials_cpp/visibility_control.h
,并将以下代码放入:
#ifndef ACTION_TUTORIALS_CPP__VISIBILITY_CONTROL_H_
#define ACTION_TUTORIALS_CPP__VISIBILITY_CONTROL_H_
#ifdef __cplusplus
extern "C"
{
#endif
// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
// https://gcc.gnu.org/wiki/Visibility
#if defined _WIN32 || defined __CYGWIN__
#ifdef __GNUC__
#define ACTION_TUTORIALS_CPP_EXPORT __attribute__ ((dllexport))
#define ACTION_TUTORIALS_CPP_IMPORT __attribute__ ((dllimport))
#else
#define ACTION_TUTORIALS_CPP_EXPORT __declspec(dllexport)
#define ACTION_TUTORIALS_CPP_IMPORT __declspec(dllimport)
#endif
#ifdef ACTION_TUTORIALS_CPP_BUILDING_DLL
#define ACTION_TUTORIALS_CPP_PUBLIC ACTION_TUTORIALS_CPP_EXPORT
#else
#define ACTION_TUTORIALS_CPP_PUBLIC ACTION_TUTORIALS_CPP_IMPORT
#endif
#define ACTION_TUTORIALS_CPP_PUBLIC_TYPE ACTION_TUTORIALS_CPP_PUBLIC
#define ACTION_TUTORIALS_CPP_LOCAL
#else
#define ACTION_TUTORIALS_CPP_EXPORT __attribute__ ((visibility("default")))
#define ACTION_TUTORIALS_CPP_IMPORT
#if __GNUC__ >= 4
#define ACTION_TUTORIALS_CPP_PUBLIC __attribute__ ((visibility("default")))
#define ACTION_TUTORIALS_CPP_LOCAL __attribute__ ((visibility("hidden")))
#else
#define ACTION_TUTORIALS_CPP_PUBLIC
#define ACTION_TUTORIALS_CPP_LOCAL
#endif
#define ACTION_TUTORIALS_CPP_PUBLIC_TYPE
#endif
#ifdef __cplusplus
}
#endif
#endif // ACTION_TUTORIALS_CPP__VISIBILITY_CONTROL_H_
2 编写动作服务器
让我们专注于编写一个动作服务器,它使用我们在创建动作教程中创建的动作来计算斐波那契数列。
2.1 编写action服务器代码
打开action_tutorials_cpp/src/fibonacci_action_server.cpp
,并将以下代码放入:
#include <functional>
#include <memory>
#include <thread>
#include "action_tutorials_interfaces/action/fibonacci.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "rclcpp_components/register_node_macro.hpp"
#include "action_tutorials_cpp/visibility_control.h"
namespace action_tutorials_cpp
{
class FibonacciActionServer : public rclcpp::Node
{
public:
using Fibonacci = action_tutorials_interfaces::action::Fibonacci;
using GoalHandleFibonacci = rclcpp_action::ServerGoalHandle<Fibonacci>;
ACTION_TUTORIALS_CPP_PUBLIC
explicit FibonacciActionServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
: Node("fibonacci_action_server", options)
{
using namespace std::placeholders;
this->action_server_ = rclcpp_action::create_server<Fibonacci>(
this->get_node_base_interface(),
this->get_node_clock_interface(),
this->get_node_logging_interface(),
this->get_node_waitables_interface(),
"fibonacci",
std::bind(&FibonacciActionServer::handle_goal, this, _1, _2),
std::bind(&FibonacciActionServer::handle_cancel, this, _1),
std::bind(&FibonacciActionServer::handle_accepted, this, _1));
}
private:
rclcpp_action::Server<Fibonacci>::SharedPtr action_server_;
rclcpp_action::GoalResponse handle_goal(
const rclcpp_action::GoalUUID & uuid,
std::shared_ptr<const Fibonacci::Goal> goal)
{
RCLCPP_INFO(this->get_logger(), "Received goal request with order %d", goal->order);
(void)uuid;
return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
}
rclcpp_action::CancelResponse handle_cancel(
const std::shared_ptr<GoalHandleFibonacci> goal_handle)
{
RCLCPP_INFO(this->get_logger(), "Received request to cancel goal");
(void)goal_handle;
return rclcpp_action::CancelResponse::ACCEPT;
}
void handle_accepted(const std::shared_ptr<GoalHandleFibonacci> goal_handle)
{
using namespace std::placeholders;
// this needs to return quickly to avoid blocking the executor, so spin up a new thread
std::thread{std::bind(&FibonacciActionServer::execute, this, _1), goal_handle}.detach();
}
void execute(const std::shared_ptr<GoalHandleFibonacci> goal_handle)
{
RCLCPP_INFO(this->get_logger(), "Executing goal");
rclcpp::Rate loop_rate(1);
const auto goal = goal_handle->get_goal();
auto feedback = std::make_shared<Fibonacci::Feedback>();
auto & sequence = feedback->partial_sequence;
sequence.push_back(0);
sequence.push_back(1);
auto result = std::make_shared<Fibonacci::Result>();
for (int i = 1; (i < goal->order) && rclcpp::ok(); ++i) {
// Check if there is a cancel request
if (goal_handle->is_canceling()) {
result->sequence = sequence;
goal_handle->canceled(result);
RCLCPP_INFO(this->get_logger(), "Goal canceled");
return;
}
// Update sequence
sequence.push_back(sequence[i] + sequence[i - 1]);
// Publish feedback
goal_handle->publish_feedback(feedback);
RCLCPP_INFO(this->get_logger(), "Publish feedback");
loop_rate.sleep();
}
// Check if goal is done
if (rclcpp::ok()) {
result->sequence = sequence;
goal_handle->succeed(result);
RCLCPP_INFO(this->get_logger(), "Goal succeeded");
}
}
}; // class FibonacciActionServer
} // namespace action_tutorials_cpp
RCLCPP_COMPONENTS_REGISTER_NODE(action_tutorials_cpp::FibonacciActionServer)
前几行包含我们需要编译的所有头文件。
接下来我们创建一个类,它是 的派生类rclcpp::Node
:
class FibonacciActionServer : public rclcpp::Node
该类的构造函数FibonacciActionServer
将节点名称初始化为fibonacci_action_server
:
explicit FibonacciActionServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()) : Node("fibonacci_action_server", options)
构造函数还实例化了一个新的动作服务器:
this->action_server_ = rclcpp_action::create_server<Fibonacci>( this->get_node_base_interface(), this->get_node_clock_interface(), this->get_node_logging_interface(), this->get_node_waitables_interface(), "fibonacci", std::bind(&FibonacciActionServer::handle_goal, this, _1, _2), std::bind(&FibonacciActionServer::handle_cancel, this, _1), std::bind(&FibonacciActionServer::handle_accepted, this, _1));
动作服务器需要 6 个东西:
-
模板化操作类型名称:
Fibonacci
。 -
将操作添加到的 ROS 2 节点:
this
。 -
动作名称:
'fibonacci'
。 -
用于处理目标的回调函数:
handle_goal
-
处理取消的回调函数:
handle_cancel
. -
用于处理目标 accept: 的回调函数
handle_accept
。
文件中接下来是各种回调的实现。请注意,所有回调都需要快速返回,否则我们可能会阻塞执行者。
我们从处理新目标的回调开始:
rclcpp_action::GoalResponse handle_goal( const rclcpp_action::GoalUUID & uuid, std::shared_ptr<const Fibonacci::Goal> goal) { RCLCPP_INFO(this->get_logger(), "Received goal request with order %d", goal->order); (void)uuid; return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; }
此实现仅接受所有目标。
接下来是处理取消的回调:
rclcpp_action::CancelResponse handle_cancel( const std::shared_ptr<GoalHandleFibonacci> goal_handle) { RCLCPP_INFO(this->get_logger(), "Received request to cancel goal"); (void)goal_handle; return rclcpp_action::CancelResponse::ACCEPT; }
这个实现只是告诉客户它接受了取消。
最后一个回调接受一个新目标并开始处理它:
void handle_accepted(const std::shared_ptr<GoalHandleFibonacci> goal_handle) { using namespace std::placeholders; // this needs to return quickly to avoid blocking the executor, so spin up a new thread std::thread{std::bind(&FibonacciActionServer::execute, this, _1), goal_handle}.detach(); }
由于执行是一个长时间运行的操作,我们产生一个线程来完成实际工作并handle_accepted
快速返回。
execute
所有进一步的处理和更新都在新线程的方法中完成:
void execute(const std::shared_ptr<GoalHandleFibonacci> goal_handle) { RCLCPP_INFO(this->get_logger(), "Executing goal"); rclcpp::Rate loop_rate(1); const auto goal = goal_handle->get_goal(); auto feedback = std::make_shared<Fibonacci::Feedback>(); auto & sequence = feedback->partial_sequence; sequence.push_back(0); sequence.push_back(1); auto result = std::make_shared<Fibonacci::Result>(); for (int i = 1; (i < goal->order) && rclcpp::ok(); ++i) { // Check if there is a cancel request if (goal_handle->is_canceling()) { result->sequence = sequence; goal_handle->canceled(result); RCLCPP_INFO(this->get_logger(), "Goal canceled"); return; } // Update sequence sequence.push_back(sequence[i] + sequence[i - 1]); // Publish feedback goal_handle->publish_feedback(feedback); RCLCPP_INFO(this->get_logger(), "Publish feedback"); loop_rate.sleep(); } // Check if goal is done if (rclcpp::ok()) { result->sequence = sequence; goal_handle->succeed(result); RCLCPP_INFO(this->get_logger(), "Goal succeeded"); } }
这个工作线程每秒处理一个斐波那契数列的序号,为每一步发布一个反馈更新。当它完成处理时,它将标记goal_handle
为成功,然后退出。
我们现在有一个功能齐全的动作服务器。让我们构建并运行它。
2.2 编译动作服务器
在上一节中,我们将动作服务器代码放置到位。为了让它编译和运行,我们需要做一些额外的事情。
首先我们需要设置 CMakeLists.txt 以便编译动作服务器。打开action_tutorials_cpp/CMakeLists.txt
,并在 calls 之后添加以下内容find_package
:
add_library(action_server SHARED src/fibonacci_action_server.cpp) target_include_directories(action_server PRIVATE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>) target_compile_definitions(action_server PRIVATE "ACTION_TUTORIALS_CPP_BUILDING_DLL") ament_target_dependencies(action_server "action_tutorials_interfaces" "rclcpp" "rclcpp_action" "rclcpp_components") rclcpp_components_register_node(action_server PLUGIN "action_tutorials_cpp::FibonacciActionServer" EXECUTABLE fibonacci_action_server) install(TARGETS action_server ARCHIVE DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION bin)
现在我们可以编译这个包了。转到 的顶层action_ws
,然后运行:
colcon build
这应该编译整个工作区,包括包fibonacci_action_server
中的action_tutorials_cpp
。
2.3 运行动作服务器
现在我们已经构建了动作服务器,我们可以运行它了。获取我们刚刚构建的工作区 ( action_ws
),并尝试运行操作服务器:
ros2 run action_tutorials_cpp fibonacci_action_server
3 编写动作客户端
3.1 编写动作客户端代码
打开action_tutorials_cpp/src/fibonacci_action_client.cpp
,并将以下代码放入:
#include <functional>
#include <future>
#include <memory>
#include <string>
#include <sstream>
#include "action_tutorials_interfaces/action/fibonacci.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "rclcpp_components/register_node_macro.hpp"
namespace action_tutorials_cpp
{
class FibonacciActionClient : public rclcpp::Node
{
public:
using Fibonacci = action_tutorials_interfaces::action::Fibonacci;
using GoalHandleFibonacci = rclcpp_action::ClientGoalHandle<Fibonacci>;
explicit FibonacciActionClient(const rclcpp::NodeOptions & options)
: Node("fibonacci_action_client", options)
{
this->client_ptr_ = rclcpp_action::create_client<Fibonacci>(
this->get_node_base_interface(),
this->get_node_graph_interface(),
this->get_node_logging_interface(),
this->get_node_waitables_interface(),
"fibonacci");
this->timer_ = this->create_wall_timer(
std::chrono::milliseconds(500),
std::bind(&FibonacciActionClient::send_goal, this));
}
void send_goal()
{
using namespace std::placeholders;
this->timer_->cancel();
if (!this->client_ptr_->wait_for_action_server()) {
RCLCPP_ERROR(this->get_logger(), "Action server not available after waiting");
rclcpp::shutdown();
}
auto goal_msg = Fibonacci::Goal();
goal_msg.order = 10;
RCLCPP_INFO(this->get_logger(), "Sending goal");
auto send_goal_options = rclcpp_action::Client<Fibonacci>::SendGoalOptions();
send_goal_options.goal_response_callback =
std::bind(&FibonacciActionClient::goal_response_callback, this, _1);
send_goal_options.feedback_callback =
std::bind(&FibonacciActionClient::feedback_callback, this, _1, _2);
send_goal_options.result_callback =
std::bind(&FibonacciActionClient::result_callback, this, _1);
this->client_ptr_->async_send_goal(goal_msg, send_goal_options);
}
private:
rclcpp_action::Client<Fibonacci>::SharedPtr client_ptr_;
rclcpp::TimerBase::SharedPtr timer_;
void goal_response_callback(std::shared_future<GoalHandleFibonacci::SharedPtr> future)
{
auto goal_handle = future.get();
if (!goal_handle) {
RCLCPP_ERROR(this->get_logger(), "Goal was rejected by server");
} else {
RCLCPP_INFO(this->get_logger(), "Goal accepted by server, waiting for result");
}
}
void feedback_callback(
GoalHandleFibonacci::SharedPtr,
const std::shared_ptr<const Fibonacci::Feedback> feedback)
{
std::stringstream ss;
ss << "Next number in sequence received: ";
for (auto number : feedback->partial_sequence) {
ss << number << " ";
}
RCLCPP_INFO(this->get_logger(), ss.str().c_str());
}
void result_callback(const GoalHandleFibonacci::WrappedResult & result)
{
switch (result.code) {
case rclcpp_action::ResultCode::SUCCEEDED:
break;
case rclcpp_action::ResultCode::ABORTED:
RCLCPP_ERROR(this->get_logger(), "Goal was aborted");
return;
case rclcpp_action::ResultCode::CANCELED:
RCLCPP_ERROR(this->get_logger(), "Goal was canceled");
return;
default:
RCLCPP_ERROR(this->get_logger(), "Unknown result code");
return;
}
std::stringstream ss;
ss << "Result received: ";
for (auto number : result.result->sequence) {
ss << number << " ";
}
RCLCPP_INFO(this->get_logger(), ss.str().c_str());
rclcpp::shutdown();
}
}; // class FibonacciActionClient
} // namespace action_tutorials_cpp
RCLCPP_COMPONENTS_REGISTER_NODE(action_tutorials_cpp::FibonacciActionClient)
前几行包含我们需要编译的所有头文件。
接下来我们创建一个类,它是 的派生类rclcpp::Node
:
class FibonacciActionClient : public rclcpp::Node
该类的构造函数FibonacciActionClient
将节点名称初始化为fibonacci_action_client
:
explicit FibonacciActionClient(const rclcpp::NodeOptions & options) : Node("fibonacci_action_client", options)
构造函数还实例化了一个新的动作客户端:
this->client_ptr_ = rclcpp_action::create_client<Fibonacci>( this->get_node_base_interface(), this->get_node_graph_interface(), this->get_node_logging_interface(), this->get_node_waitables_interface(), "fibonacci");
一个动作客户端需要三样东西:
-
模板化操作类型名称:
Fibonacci
。 -
将动作客户端添加到的 ROS 2 节点:
this
。 -
动作名称:
'fibonacci'
。
我们还实例化了一个 ROS 计时器,它将启动一个且唯一的调用send_goal
:
this->timer_ = this->create_wall_timer( std::chrono::milliseconds(500), std::bind(&FibonacciActionClient::send_goal, this));
当计时器到期时,它将调用send_goal
:
void send_goal() { using namespace std::placeholders; this->timer_->cancel(); if (!this->client_ptr_->wait_for_action_server()) { RCLCPP_ERROR(this->get_logger(), "Action server not available after waiting"); rclcpp::shutdown(); } auto goal_msg = Fibonacci::Goal(); goal_msg.order = 10; RCLCPP_INFO(this->get_logger(), "Sending goal"); auto send_goal_options = rclcpp_action::Client<Fibonacci>::SendGoalOptions(); send_goal_options.goal_response_callback = std::bind(&FibonacciActionClient::goal_response_callback, this, _1); send_goal_options.feedback_callback = std::bind(&FibonacciActionClient::feedback_callback, this, _1, _2); send_goal_options.result_callback = std::bind(&FibonacciActionClient::result_callback, this, _1); this->client_ptr_->async_send_goal(goal_msg, send_goal_options); }
此函数执行以下操作:
-
取消计时器(因此它只被调用一次)。
-
等待动作服务器出现。
-
实例化一个新的
Fibonacci::Goal
. -
设置响应、反馈和结果回调。
-
将目标发送到服务器。
当服务器接收并接受目标时,它会向客户端发送响应。该响应由以下人员处理goal_response_callback
:
void goal_response_callback(std::shared_future<GoalHandleFibonacci::SharedPtr> future) { auto goal_handle = future.get(); if (!goal_handle) { RCLCPP_ERROR(this->get_logger(), "Goal was rejected by server"); } else { RCLCPP_INFO(this->get_logger(), "Goal accepted by server, waiting for result"); } }
假设目标已被服务器接受,它将开始处理。对客户的任何反馈将由以下人员处理feedback_callback
:
void feedback_callback( GoalHandleFibonacci::SharedPtr, const std::shared_ptr<const Fibonacci::Feedback> feedback) { std::stringstream ss; ss << "Next number in sequence received: "; for (auto number : feedback->partial_sequence) { ss << number << " "; } RCLCPP_INFO(this->get_logger(), ss.str().c_str()); }
服务器处理完成后,会返回一个结果给客户端。结果由以下人员处理result_callback
:
void result_callback(const GoalHandleFibonacci::WrappedResult & result) { switch (result.code) { case rclcpp_action::ResultCode::SUCCEEDED: break; case rclcpp_action::ResultCode::ABORTED: RCLCPP_ERROR(this->get_logger(), "Goal was aborted"); return; case rclcpp_action::ResultCode::CANCELED: RCLCPP_ERROR(this->get_logger(), "Goal was canceled"); return; default: RCLCPP_ERROR(this->get_logger(), "Unknown result code"); return; } std::stringstream ss; ss << "Result received: "; for (auto number : result.result->sequence) { ss << number << " "; } RCLCPP_INFO(this->get_logger(), ss.str().c_str()); rclcpp::shutdown(); }
我们现在有一个功能齐全的动作客户端。让我们构建并运行它。
3.2 编译动作客户端
在上一节中,我们将动作客户端代码放置到位。为了让它编译和运行,我们需要做一些额外的事情。
首先我们需要设置 CMakeLists.txt 以便编译动作客户端。打开action_tutorials_cpp/CMakeLists.txt
,并在 calls 之后添加以下内容find_package
:
add_library(action_client SHARED src/fibonacci_action_client.cpp) target_include_directories(action_client PRIVATE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>) target_compile_definitions(action_client PRIVATE "ACTION_TUTORIALS_CPP_BUILDING_DLL") ament_target_dependencies(action_client "action_tutorials_interfaces" "rclcpp" "rclcpp_action" "rclcpp_components") rclcpp_components_register_node(action_client PLUGIN "action_tutorials_cpp::FibonacciActionClient" EXECUTABLE fibonacci_action_client) install(TARGETS action_client ARCHIVE DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION bin)
现在我们可以编译这个包了。转到 的顶层action_ws
,然后运行:
colcon build
这应该编译整个工作区,包括包fibonacci_action_client
中的action_tutorials_cpp
。
3.3 运行动作客户端
现在我们已经构建了动作客户端,我们可以运行它了。首先确保动作服务器在单独的终端中运行。现在获取我们刚刚构建的工作区 ( action_ws
),并尝试运行操作客户端:
ros2 run action_tutorials_cpp fibonacci_action_client
您应该会看到已接受目标、正在打印的反馈以及最终结果的记录消息。
概括
在本教程中,您逐行将 C++ 动作服务器和动作客户端放在一起,并配置它们以交换目标、反馈和结果。