initial commit

CMakeLists.txt

+cmake_minimum_required(VERSION 3.0.2)
+project(actionlib_example)
+
+# Wichtig für VSCode debugging
+set(CMAKE_BUILD_TYPE Debug)
+
+
+## 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
+	 actionlib_msgs 
+	 actionlib
+	 std_msgs
+	 )
+add_action_files(FILES Trigger.action)
+generate_messages(DEPENDENCIES actionlib_msgs std_msgs)
+
+
+## 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
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES actionlib_example
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+	CATKIN_DEPENDS actionlib_msgs std_msgs message_runtime
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/actionlib_example.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/actionlib_example_node.cpp)
+add_executable(${PROJECT_NAME}_garage_server src/garage_server.cpp)
+add_executable(${PROJECT_NAME}_garage_client src/garage_client.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(
+ ${PROJECT_NAME}_garage_server ${catkin_LIBRARIES}
+)
+target_link_libraries(
+ ${PROJECT_NAME}_garage_client ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_actionlib_example.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

action/Trigger.action

+bool open #goal
+---
+bool open #result
+---
+int32 position #feedback

launch/actionlib_server_client.launch

+<launch>
+    <node name="actionlib_client" pkg="actionlib_example" type="actionlib_example_garage_client" respawn="false" output="screen"/>
+    <node name="actionlib_server" pkg="actionlib_example" type="actionlib_example_garage_server" respawn="false" output="screen"/>
+</launch>

package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>actionlib_example</name>
+  <version>0.0.0</version>
+  <description>The actionlib_example package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="cs@todo.todo">cs</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/actionlib_example</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>actionlib_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>actionlib_msgs</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>actionlib_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <depend>roscpp</depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/garage_client.cpp

+#include <ros/ros.h>
+#include <actionlib_example/TriggerAction.h>
+#include <actionlib/client/simple_action_client.h>
+
+void donecb(const actionlib::SimpleClientGoalState& state, 
+    const actionlib_example::TriggerResultConstPtr& result){
+        ROS_INFO("got result: %s", result->open ? "true" : "false");
+}
+
+void feedbackcb(const actionlib_example::TriggerFeedbackConstPtr& fb){
+    ROS_INFO_STREAM("got feedback:" << fb->position);
+}
+
+void activecb(){
+    ROS_INFO("active");
+}
+
+int main(int argc, char** argv){
+    ros::init(argc, argv, "gar_cli");
+    ros::NodeHandle nh;
+    ROS_INFO("client here");
+    actionlib::SimpleActionClient<actionlib_example::TriggerAction> ac("garage_server");
+    ac.waitForServer();
+    actionlib_example::TriggerGoal goal;
+    goal.open = true;
+    ac.sendGoal(goal, donecb, activecb, feedbackcb);
+    ROS_INFO("sent goal %s", goal.open ? "true" : "false");
+    ros::Duration(4).sleep();
+    goal.open = false;
+    ac.sendGoal(goal, donecb, activecb, feedbackcb);
+    ROS_INFO("sent goal %s", goal.open ? "true" : "false");
+    ac.waitForResult();
+    //ros::spin();
+    return 0;
+}
\ No newline at end of file

src/garage_server.cpp

+#include <ros/ros.h>
+#include <actionlib_example/TriggerAction.h>
+#include <actionlib/server/simple_action_server.h>
+#include <stdlib.h>
+
+class Garage {
+    private:
+        int32_t current_position;
+        actionlib::SimpleActionServer<actionlib_example::TriggerAction> as;
+        actionlib_example::TriggerFeedback fb;
+        actionlib_example::TriggerResult res;
+        void (*move) (int32_t*);
+        static void move_up(int32_t* ptr) {(*ptr)++;};
+        static void move_down(int32_t* ptr) {(*ptr)--;};
+    public:
+        static const int OPEN = 1000;
+        static const int CLOSED = 0;
+
+        Garage() : as("garage_server", boost::bind(&Garage::execute, this, _1), false){
+            current_position = 0;
+            move = Garage::move_up;
+            this->as.start();
+        }
+
+        ~Garage() {}
+
+        void execute(const actionlib_example::TriggerGoalConstPtr& goal){
+            int to_reach;
+            if (goal->open == true) {
+                to_reach = OPEN;
+                move = move_up;
+            }
+            else {
+                to_reach = CLOSED;
+                move = move_down;
+            }
+            ros::Rate rate(100);
+            while (true) {
+                rate.sleep();
+                if (as.isPreemptRequested() || !ros::ok() || as.isNewGoalAvailable()) {
+                    ROS_INFO("server preempted");
+                    as.setPreempted();
+                    return;
+                }
+                if (current_position == to_reach) {
+                    res.open = to_reach == OPEN;
+                    ROS_INFO("server goal reached");
+                    as.setSucceeded(res);
+                    return;
+                }
+                move(&this->current_position);
+                // some random feedback, 1% chance
+                if (rand()/((float) RAND_MAX) < 0.01) {
+                    fb.position = current_position;
+                    ROS_INFO("sending feedback: %i", current_position);
+                    as.publishFeedback(fb);
+                }
+            }         
+        }
+};
+
+int main(int argc, char** argv){
+    ros::init(argc, argv, "gar_serv");
+    ros::NodeHandle nh;
+    ROS_INFO("server here");
+    // not working on stack for some reason, 
+    // might be too big, no stackoverflow thrown though
+    // Garage gar();
+    Garage* gar = new Garage();
+    ros::spin();
+    delete gar;
+    return 0;
+}
\ No newline at end of file