ROS Action Client

  • 03_02_ros_action_client.ipynb

  • Running the cell code
    Ctrl + Enter
import rospy
from __future__ import print_function
import actionlib
import actionlib_tutorials.msg

  • Import rospy modules

  • Import print_function from __future__ module for Python3 compatibility

  • Import the actionlib and actionlib_tutorials.msg modules

def fibonacci_client():
# Create SimpleActionClient and pass action type
client = actionlib.SimpleActionClient('fibonacci', actionlib_tutorials.msg.FibonacciAction)

# Check the action server and wait for it to start
# get the target
client.wait_for_server()

# create a target to send to the action server
goal = actionlib_tutorials.msg.FibonacciGoal(order=20)

# Send target to action server
client.send_goal(goal)

# Wait for the server to perform an action
client.wait_for_result()

# output action results
return client.get_result()  # A FibonacciResult

  • Create fibonacci_client() function

try:
    # Initialize and create a Rospy node so SimpleActionClient can publish and subscribe through ROS.
    rospy.init_node('fibonacci_client_py')
    result = fibonacci_client()
    print("Result:", ', '.join([str(n) for n in result.sequence]))
except rospy.ROSInterruptException:
    print("program interrupted before completion", file=sys.stderr)

  • Create fibonacci_client_py Action Node

  • calculation value output