From 176ad06ff3d098365b646b65270a785b5a4e30e4 Mon Sep 17 00:00:00 2001 From: Ernesto Corbellini <ecorbellini@ekumenlabs.com> Date: Fri, 22 Jan 2016 17:40:57 -0300 Subject: [PATCH] Updated readme for the new version. --- README.md | 51 ++++++++++++++++++++++++--------------------------- 1 file changed, 24 insertions(+), 27 deletions(-) diff --git a/README.md b/README.md index 0c49a23..23a88ed 100644 --- a/README.md +++ b/README.md @@ -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: -- GitLab