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software training #15

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de3ff81
software training
ariwasch Jan 7, 2021
b8f5f59
fixed?
ariwasch Jan 10, 2021
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48 changes: 6 additions & 42 deletions software_training/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,12 +1,7 @@
cmake_minimum_required(VERSION 3.0.2)
project(software_training)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
Expand All @@ -16,57 +11,26 @@ find_package(catkin REQUIRED COMPONENTS
actionlib
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )

## Generate services in the 'srv' folder
add_service_files(
FILES
service.srv
)

## Generate actions in the 'action' folder
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@azumnanji azumnanji Jan 7, 2021

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you should be adding the action file for building

# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
add_action_files(
FILES
action.action
)

## Generate added messages and services with any dependencies listed here
generate_messages(
Expand Down Expand Up @@ -224,5 +188,5 @@ target_link_libraries(listener ${catkin_LIBRARIES})

add_executable(service src/service.cpp)
target_link_libraries(service ${catkin_LIBRARIES})
add_dependencies(service software_training_generate_cpp)
add_dependencies(service software_training_generate_messages_cpp)

13 changes: 7 additions & 6 deletions software_training/src/action.cpp
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Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/>
#include "std_msgs/String.h"
#include "geometry_msgs/Twist.h"
#include <actionlib>
#include <std_msgs/String.h>
#include <geometry_msgs/Twist.h>
#include <sstream>
#include <cmath>
#include "software_training/Distance.h"
Expand All @@ -17,15 +17,16 @@ int main (int argc, char **argv)
= nh.advertise<geometry_msgs::Twist>("/moving_turtle/cmd_vel", 1000);
// create the action client
// true causes the client to spin its own thread

actionlib::SimpleActionClient<goemetry_msgs::Twist>("action", true);

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@azumnanji azumnanji Jan 24, 2021

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sorry forgot to mention this, action Client and Server should never be in the same node, it defeats the purpose of having an action server.

//actionlib::SimpleActionClient<goemetry_msgs::Twist>("action", true);
actionlib::SimpleActionClient<software_training_assignment::Action> actionClient("action", true);

Server server(n, "action", boost::bind(&execute, _1, &server), false);
server.start();

ROS_INFO("Waiting for action server to start.");
// wait for the action server to start
ac.waitForServer(); //will wait for infinite time
actionClient.waitForServer(); //will wait for infinite time

ROS_INFO("Action server started, sending goal.");
// send a goal to the action
Expand Down
9 changes: 8 additions & 1 deletion software_training/src/addTurtle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,14 +45,21 @@ int main(int argc, char **argv){

ros::service::waitForService("spawn", ros::Duration(5));
bool success = spawnClient.call(req,resp);
success = spawnClient.call(req2,resp2);
bool success2 = spawnClient.call(req2,resp2);


if(success){
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@azumnanji azumnanji Jan 7, 2021

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this is good but if the first turtle does not spawn but the second one does this will be true.
better to evaluate individually and use the response msg

ROS_INFO_STREAM("Spawned a turtle named "
<< resp.name);
}else{
ROS_ERROR_STREAM("Failed to spawn.");
}

if(success2){
ROS_INFO_STREAM("Spawned a turtle named "
<< resp2.name);
}else{
ROS_ERROR_STREAM("Failed to spawn.");
}
}