ROS2学习之旅（21）——创建一个动作服务和客户节点（C++）

2021-10-30 13:51:16

动作是ROS中的一种异步通信形式，动作客户端向动作服务器发送目标请求，目标服务器向操作客户端发送目标反馈和结果。本文基于前一篇自定义动作博文。

1.创建一个`action_turtorials_cpp`包

1.1 创建一个`action_turtorials_cpp`包

在终端运行：

cd ~/action_ws/src
ros2 pkg create --dependencies action_tutorials_interfaces rclcpp rclcpp_action rclcpp_components -- action_tutorials_cpp

1.2添加可见性控件

为了使包可以在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，请参见这里。

打开action_tutorials_cpp/include/action_tutorials_cpp/ visbility_control .h，并放入以下代码：

#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.编写一个动作服务器

接下来编写一个动作服务器，使用在前文创建的动作接口来计算斐波那契数列。

2.1编写动作服务器

打开action_tutorials_cpp/src/fibonacci_action_server.cpp（需要自己创建），输入以下代码：

#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,
      "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)

前几行包含需要编译的所有头文件。

接下来，创建一个rclcpp::Node的派生类：

class FibonacciActionServer : public rclcpp::Node

FibonacciActionServer类的构造函数初始化fibonacci_action_server节点：

 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,
      "fibonacci",
      std::bind(&FibonacciActionServer::handle_goal, this, _1, _2),
      std::bind(&FibonacciActionServer::handle_cancel, this, _1),
      std::bind(&FibonacciActionServer::handle_accepted, this, _1));

这个动作服务有6样东西：

模板化的动作类型名称：Fibonacci。
将一个ROS2节点的动作添加到：this。
动作名称：fibonacci。
处理目标的回调函数：handle_goal。
处理取消的回调函数：handle_cancel。
处理目标接收的函数：handle_accept。

该文件的下一个内容是各种回调的实现。请注意，所有的回调都需要快速返回，否则就会有耗尽执行程序的风险。

处理新的目标的回调函数：

  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;
  }

这个实现仅仅接收目标。

处理取消的回调函数：

  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机它接受了取消。

最后一个回调函数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();
  }

由于执行是一个长期运行的操作，所以派生出一个线程来执行实际工作，并从handle_accepted快速返回。

所有进一步的处理和更新都在新线程的execute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序号，为每个步骤发布一个反馈更新。当它完成处理时，它将goal_handle标记为成功，然后退出。

2.2编译动作服务器

设置CMakeLists.txt，以便编译动作服务器。打开action_tutorials_cpp/CMakeLists.txt，并在find_package调用之后添加以下内容：

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)

现在可以编译包了，进入action_ws的根目录，并运行:

colcon build

2.3运行动作服务器

现在已经构建了动作服务器，可以运行它：

ros2 run action_tutorials_cpp fibonacci_action_server

3.编写动作客服端

3.1编写动作客户节点代码

打开action_tutorials_cpp/src/fibonacci_action_client.cpp（需要创建），加入以下代码：

#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,
      "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)

前几行包含需要编译的所有头文件。

接下来，创建一个rclcpp::Node的派生类:

class FibonacciActionClient : public rclcpp::Node

FibonacciActionClient类的构造函数初始化节点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,
      "fibonacci");

一个动作客户端需要3件东西：

动作类型名称：Fibonacci。
将动作客户端添加到的ROS2节点:this。
动作名：fibonacci。

实例化一个ROS定时器，它将启动对send_goal的唯一调用：

    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);
  }

这个函数的功能如下:

取消计时器(因此只调用一次)。
等待动作服务器启动。
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，它将向客户机发送一个响应。该响应由goal_response_callback处理：

  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");
    }
  }

假设目标被服务器接受，它将开始处理。任何给客户端的反馈都将被feedback_callback处理：

  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());
  }

当服务器完成处理后，它将向客户机返回一个结果。结果由result_callback处理:

  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();
  }

3.2编译动作客户端

打开action_tutorials_cpp/CMakeLists.txt，在find_package下添加：

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)

编译：

colcon build

3.3运行动作客户端

现在已经构建了动作客户端，可以运行它。首先，确保动作服务器在单独的终端中运行：

ros2 run action_tutorials_cpp fibonacci_action_server

运行动作客户端:

ros2 run action_tutorials_cpp fibonacci_action_client

现在可以看到被接受的目标日志消息、打印的反馈和最终的结果。

4.总结

在本文中，编写了一个C++动作服务器和客户端，并为它们配置目标、反馈和结果。

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码农公寓

1.创建一个action_turtorials_cpp包

1.1 创建一个action_turtorials_cpp包