网站空间配置,东莞哪里有做网站的,电脑优化大师下载安装,网站制作深一、新建项目
# 创建工作空间
mkdir -p demo5/src cd demo5# 初始化工作空间
catkin_make# 创建功能包
cd src
catkin_create_pkg demo roscpp actionlib_msgs message_generation tf
二、创建行为
# 创建行为目录
mkdir action cd action# 创建行为文…一、新建项目
# 创建工作空间
mkdir -p demo5/src cd demo5# 初始化工作空间
catkin_make# 创建功能包
cd src
catkin_create_pkg demo roscpp actionlib_msgs message_generation tf
二、创建行为
# 创建行为目录
mkdir action cd action# 创建行为文件
vim Move.action# 定义行为内容
uint32 destination
---
bool arrived
---
uint32 distance
三、修改编译配置
# 添加行为文件
add_action_files(FILESMove.action
)# 生成消息文件
generate_messages(DEPENDENCIESstd_msgsactionlib_msgs
)# 添加源文件
add_executable(server src/server.cpp)
add_executable(client src/client.cpp)# 添加依赖
add_dependencies(server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)# 链接catkin库
target_link_libraries(server ${catkin_LIBRARIES})
target_link_libraries(client ${catkin_LIBRARIES})
四、创建行为服务端
#include iostream#include ros/ros.h
#include actionlib/server/simple_action_server.h
#include demo/MoveAction.hvoid ActionCallback(const demo::MoveGoalConstPtr goal, actionlib::SimpleActionServerdemo::MoveAction *server) {if (goal.get() ! nullptr) {uint32_t destination goal.get()-destination;ROS_INFO(destination: %d, destination);ros::Rate rate(1);for (uint32_t distance 0; distance destination; distance) {demo::MoveFeedback feedback;feedback.distance distance;server-publishFeedback(feedback);rate.sleep();}demo::MoveResult result;result.arrived destination;server-setSucceeded(result);}
}int main(int argc, char* argv[]) {std::string nodeName Server;ros::init(argc, argv, nodeName);ros::NodeHandle nodeHandle;std::string actionName move;actionlib::SimpleActionServerdemo::MoveAction actionServer(nodeHandle, actionName, boost::bind(ActionCallback, _1, actionServer), false);actionServer.start();ros::spin();return EXIT_SUCCESS;
}
五、创建行为客户端
#include iostream#include ros/ros.h
#include actionlib/client/simple_action_client.h
#include demo/MoveAction.hvoid doneCallback(const actionlib::SimpleClientGoalState state, const demo::MoveResultConstPtr result, actionlib::SimpleActionClientdemo::MoveAction *client) {ROS_INFO(MoveAction state: %s, state.toString().c_str());if (state state.SUCCEEDED) {ros::shutdown();}
}void activeCallback() {ROS_INFO(MoveAction active!!!);
}void feedbackCallback(const demo::MoveFeedbackConstPtr feedback) {ROS_INFO(MoveAction feedback: %d, feedback.get()-distance);
}int main(int argc, char* argv[]) {std::string nodeName Client;ros::init(argc, argv, nodeName);ros::NodeHandle nodeHandle;std::string actionName move;actionlib::SimpleActionClientdemo::MoveAction actionClient actionlib::SimpleActionClientdemo::MoveAction(nodeHandle, actionName);actionClient.waitForServer();demo::MoveGoal goal;goal.destination 5;actionClient.sendGoal(goal, boost::bind(doneCallback, _1, _2, actionClient), boost::bind(activeCallback), boost::bind(feedbackCallback, _1));ros::spin();return EXIT_SUCCESS;
}
