Actionlib for Rosjava

A pure java implementation of actionlib for rosjava. Features implemented:

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.

Requirements:

• ROS Indigo http://wiki.ros.org/
• Rosjava $ sudo apt-get install ros-indigo-rosjava http://wiki.ros.org/rosjava/Tutorials/indigo/Installation
• Java 1.7 or greater (OpenJDK should work)
• Also make sure you have the following packages: ros-indigo-actionlib ros-indigo-actionlib-tutorials ros-indigo-genjava
• Download the project: $ git clone https://github.com/ernestmc/rosjava_actionlib.git

Compiling:

1. Go to the package folder: $ cd rosjava_actionlib
2. Compile the code: $ catkin_make

Running a test client:

1. Open a new terminal and get a ros master running: $ roscore
2. In another terminal run the actionlib sample server: $ rosrun actionlib_tutorials fibonacci_server
3. Run our client:

• Go back to the package folder: cd ../..
• Source the project environment: $ source devel/setup.bash
• Run the client: $ rosrun rosjava_actionlib execute com.github.ekumen.rosjava_actionlib.TestClient

Output from the test client

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.
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
Got Fibonacci result sequence!Feedback from Fibonacci server:
0 1 1
Cancelling goal ID: fibonacci_test_3
Got Fibonacci result sequence!

Running a test server:

1. Run our server:

• Go back to the package folder: cd ../..
• Source the project environment: $ source devel/setup.bash
• Run the server: $ rosrun rosjava_actionlib execute com.github.ekumen.rosjava_actionlib.TestServer

2. If its not already running, open a new terminal and get a ros master running: $ roscore
3. In another terminal run the actionlib sample client: $ rosrun actionlib_tutorials fibonacci_client
4. Once finished, use Ctrl+C to close the server.

Output from the test server

The test server will start running and wait for clients to connect and send goal messages. Once the fibonacci client sends a goal, the server accepts it and sends a result. The output should look something like this:

Goal received.
Goal accepted.
Sending result...

Running demos for the server and the client

You can launch a demo client and a fibonacci action server all at once using:

roslaunch rosjava_actionlib client_demo.launch --screen

You can also launch a demo server and a fibonacci action client all at once using:

roslaunch rosjava_actionlib server_demo.launch --screen

Use Ctrl+C to stop the execution once it's finished.