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Commit 176ad06f authored by Ernesto Corbellini's avatar Ernesto Corbellini
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Updated readme for the new version.

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...@@ -2,19 +2,11 @@ ...@@ -2,19 +2,11 @@
A pure java implementation of [actionlib](http://wiki.ros.org/actionlib) for [rosjava](http://wiki.ros.org/rosjava). A pure java implementation of [actionlib](http://wiki.ros.org/actionlib) for [rosjava](http://wiki.ros.org/rosjava).
Features implemented: Features implemented:
Latest release: [v0.1.0](https://github.com/ernestmc/rosjava_actionlib/releases/tag/v0.1.0) Latest release: [v0.2.0](https://github.com/ernestmc/rosjava_actionlib/releases/tag/v0.2.0)
### 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.
New in this release:
* Added goal state tracking to the client.
* Added a waitForActionServerToStart method to the client.
## Requirements: ## Requirements:
* ROS Indigo http://wiki.ros.org/ * 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 ...@@ -26,7 +18,7 @@ You can find a video tutorial showing how to install and test the library follow
https://youtu.be/FmmsMdEbYFs https://youtu.be/FmmsMdEbYFs
## Downloading: ## 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. 2. Unzip it somewhere.
## Compiling: ## Compiling:
...@@ -45,23 +37,28 @@ The test client will connect to the fibonacci server and send it a goal. It ...@@ -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 then receive feedback from the server and a final response. The output
should look something like this: should look something like this:
``` ```
Sending goal #0... Loading node class: com.github.ekumen.rosjava_actionlib.TestClient
Goal sent.
Got Fibonacci result sequence!0 1 Waiting for action server to start...
Sending goal #1... Action server started.
Goal sent.
Sending goal...
Sent goal with ID: /fibonacci_test_client-1-1453494018.17000000
Waiting for goal to complete...
Feedback from Fibonacci server: 0 1 1 Feedback from Fibonacci server: 0 1 1
Got Fibonacci result sequence!0 1 1 Feedback from Fibonacci server: 0 1 1 2
Sending goal #2... Feedback from Fibonacci server: 0 1 1 2 3
Goal sent. Got Fibonacci result sequence: 0 1 1 2 3
Sending goal ID: fibonacci_test_3... Goal completed!
Goal sent.
Sending a new goal...
Sent goal with ID: /fibonacci_test_client-2-1453494021.25000000
Cancelling this goal...
Feedback from Fibonacci server: 0 1 1 Feedback from Fibonacci server: 0 1 1
Got Fibonacci result sequence!Feedback from Fibonacci server: Got Fibonacci result sequence:
0 1 1 Goal cancelled succesfully.
Cancelling goal ID: fibonacci_test_3
Got Fibonacci result sequence!
Bye!
``` ```
## Running a test server: ## Running a test server:
......
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