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Sebastian Ebert
rosjava_actionlib
Commits
176ad06f
Commit
176ad06f
authored
9 years ago
by
Ernesto Corbellini
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Updated readme for the new version.
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README.md
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176ad06f
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@@ -2,19 +2,11 @@
A pure java implementation of
[
actionlib
](
http://wiki.ros.org/actionlib
)
for
[
rosjava
](
http://wiki.ros.org/rosjava
)
.
Features implemented:
Latest release:
[
v0.1.0
](
https://github.com/ernestmc/rosjava_actionlib/releases/tag/v0.1.0
)
### Basic client:
*
methods for publishing goal and cancel messages.
*
callback interface for status, feedback and result messages.
*
goal state tracking is not implemented yet
### Basic server:
*
methods for publishing result, feedback and status messages.
*
periodic goal status publishing as heartbeat
*
callback interface for accepting goals, and receiving cancel messages.
*
multi-goal state tracking.
Latest release:
[
v0.2.0
](
https://github.com/ernestmc/rosjava_actionlib/releases/tag/v0.2.0
)
New in this release:
*
Added goal state tracking to the client.
*
Added a waitForActionServerToStart method to the client.
## Requirements:
*
ROS Indigo http://wiki.ros.org/
...
...
@@ -26,7 +18,7 @@ You can find a video tutorial showing how to install and test the library follow
https://youtu.be/FmmsMdEbYFs
## Downloading:
1.
Download the latest release of the project: https://github.com/ernestmc/rosjava_actionlib/archive/v0.
1
.0.zip
1.
Download the latest release of the project: https://github.com/ernestmc/rosjava_actionlib/archive/v0.
2
.0.zip
2.
Unzip it somewhere.
## Compiling:
...
...
@@ -45,23 +37,28 @@ The test client will connect to the fibonacci server and send it a goal. It
should then receive feedback from the server and a final response. The output
should look something like this:
```
Sending goal #0...
Goal sent.
Got Fibonacci result sequence!0 1
Sending goal #1...
Goal sent.
Loading node class: com.github.ekumen.rosjava_actionlib.TestClient
Waiting for action server to start...
Action server started.
Sending goal...
Sent goal with ID: /fibonacci_test_client-1-1453494018.17000000
Waiting for goal to complete...
Feedback from Fibonacci server: 0 1 1
Got Fibonacci result sequence!0 1 1
Sending goal #2...
Goal sent.
Sending goal ID: fibonacci_test_3...
Goal sent.
Feedback from Fibonacci server: 0 1 1 2
Feedback from Fibonacci server: 0 1 1 2 3
Got Fibonacci result sequence: 0 1 1 2 3
Goal completed!
Sending a new goal...
Sent goal with ID: /fibonacci_test_client-2-1453494021.25000000
Cancelling this goal...
Feedback from Fibonacci server: 0 1 1
Got Fibonacci result sequence!Feedback from Fibonacci server:
0 1 1
Cancelling goal ID: fibonacci_test_3
Got Fibonacci result sequence!
Got Fibonacci result sequence:
Goal cancelled succesfully.
Bye!
```
## Running a test server:
...
...
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