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rosjava_build_tools

Name Last commit Last update
src/rosjava_actionlib
.gitignore
README.md
README.md

Actionlib for Rosjava

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

Latest release: v0.2.0

New in this release:

  • Added goal state tracking to the client.
  • Added a waitForActionServerToStart method to the client.

Requirements:

You can find a video tutorial showing how to install and test the library following the instructions below: https://youtu.be/FmmsMdEbYFs

Downloading:

  1. Download the latest release of the project: https://github.com/ernestmc/rosjava_actionlib/archive/v0.2.0.zip
  2. Unzip it somewhere.

Compiling:

  1. Open a terminal inside the folder where you unzipped the package.
  2. Compile the code using the following command: $ 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:
  • 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:

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
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:
Goal cancelled succesfully.

Bye!

Running a test server:

  1. Run our server:
  • Source the project environment: $ source devel/setup.bash
  • Run the server: $ rosrun rosjava_actionlib execute com.github.ekumen.rosjava_actionlib.TestServer
  1. If its not already running, open a new terminal and get a ros master running: $ roscore
  2. In another terminal run the actionlib sample client: $ rosrun actionlib_tutorials fibonacci_client
  3. 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.