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src/rosjava_actionlib
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README.md

Actionlib for Rosjava

A pure java implementation of actionlib for rosjava. For now there is a basic client implemented with the following features:

  • send goal
  • send cancel
  • callback interface for status, feedback and result messages.

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
  3. Move to the project folder: $ cd src/rosjava_actionlib
  4. Build the execution target: $ ./gradlew deployApp

Running:

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

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 #3...
Goal sent.
Feedback from Fibonacci server: 0 1 1
Feedback from Fibonacci server: 0 1 1 2
Feedback from Fibonacci server: 0 1 1 2 3
Feedback from Fibonacci server: 0 1 1 2 3 5
Feedback from Fibonacci server: 0 1 1 2 3 5 8
Feedback from Fibonacci server: 0 1 1 2 3 5 8 13
Got Fibonacci result sequence!0 1 1 2 3 5 8 13
Sending goal #2...
Goal sent.
Feedback from Fibonacci server: 0 1 1
Feedback from Fibonacci server: 0 1 1 2
Feedback from Fibonacci server: 0 1 1 2 3
Feedback from Fibonacci server: 0 1 1 2 3 5
Feedback from Fibonacci server: 0 1 1 2 3 5 8
Feedback from Fibonacci server: 0 1 1 2 3 5 8 13
Got Fibonacci result sequence!0 1 1 2 3 5 8 13
Sending goal #1...
Goal sent.
Feedback from Fibonacci server: 0 1 1
Feedback from Fibonacci server: 0 1 1 2
Feedback from Fibonacci server: 0 1 1 2 3
Feedback from Fibonacci server: 0 1 1 2 3 5
Feedback from Fibonacci server: 0 1 1 2 3 5 8
Feedback from Fibonacci server: 0 1 1 2 3 5 8 13