ROS2与C++入门教程-编写动作服务器

说明：

• 介绍如何用C++实现动作服务器

步骤：

• 创建 action_tutorials_cpp 包

cd ~/action_ws/src
ros2 pkg create --dependencies action_tutorials_interfaces rclcpp rclcpp_action rclcpp_components -- action_tutorials_cpp

• 添加可见性控制，在action_tutorials_cpp/include/action_tutorials_cpp/visibility_control.h添加以下内容

#ifndef ACTION_TUTORIALS_CPP__VISIBILITY_CONTROL_H_
#define ACTION_TUTORIALS_CPP__VISIBILITY_CONTROL_H_

#ifdef __cplusplus
extern "C"
{
#endif

// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
//     https://gcc.gnu.org/wiki/Visibility

#if defined _WIN32 || defined __CYGWIN__
  #ifdef __GNUC__
    #define ACTION_TUTORIALS_CPP_EXPORT __attribute__ ((dllexport))
    #define ACTION_TUTORIALS_CPP_IMPORT __attribute__ ((dllimport))
  #else
    #define ACTION_TUTORIALS_CPP_EXPORT __declspec(dllexport)
    #define ACTION_TUTORIALS_CPP_IMPORT __declspec(dllimport)
  #endif
  #ifdef ACTION_TUTORIALS_CPP_BUILDING_DLL
    #define ACTION_TUTORIALS_CPP_PUBLIC ACTION_TUTORIALS_CPP_EXPORT
  #else
    #define ACTION_TUTORIALS_CPP_PUBLIC ACTION_TUTORIALS_CPP_IMPORT
  #endif
  #define ACTION_TUTORIALS_CPP_PUBLIC_TYPE ACTION_TUTORIALS_CPP_PUBLIC
  #define ACTION_TUTORIALS_CPP_LOCAL
#else
  #define ACTION_TUTORIALS_CPP_EXPORT __attribute__ ((visibility("default")))
  #define ACTION_TUTORIALS_CPP_IMPORT
  #if __GNUC__ >= 4
    #define ACTION_TUTORIALS_CPP_PUBLIC __attribute__ ((visibility("default")))
    #define ACTION_TUTORIALS_CPP_LOCAL  __attribute__ ((visibility("hidden")))
  #else
    #define ACTION_TUTORIALS_CPP_PUBLIC
    #define ACTION_TUTORIALS_CPP_LOCAL
  #endif
  #define ACTION_TUTORIALS_CPP_PUBLIC_TYPE
#endif

#ifdef __cplusplus
}
#endif

#endif  // ACTION_TUTORIALS_CPP__VISIBILITY_CONTROL_H_

• 编写动作服务器代码

#include <functional>
#include <memory>
#include <thread>

#include "action_tutorials_interfaces/action/fibonacci.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "rclcpp_components/register_node_macro.hpp"

#include "action_tutorials_cpp/visibility_control.h"

namespace action_tutorials_cpp
{
class FibonacciActionServer : public rclcpp::Node
{
public:
  using Fibonacci = action_tutorials_interfaces::action::Fibonacci;
  using GoalHandleFibonacci = rclcpp_action::ServerGoalHandle<Fibonacci>;

  ACTION_TUTORIALS_CPP_PUBLIC
  explicit FibonacciActionServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
  : Node("fibonacci_action_server", options)
  {
    using namespace std::placeholders;

    this->action_server_ = rclcpp_action::create_server<Fibonacci>(
      this,
      "fibonacci",
      std::bind(&FibonacciActionServer::handle_goal, this, _1, _2),
      std::bind(&FibonacciActionServer::handle_cancel, this, _1),
      std::bind(&FibonacciActionServer::handle_accepted, this, _1));
  }

private:
  rclcpp_action::Server<Fibonacci>::SharedPtr action_server_;

  rclcpp_action::GoalResponse handle_goal(
   const rclcpp_action::GoalUUID & uuid,
    std::shared_ptr<const Fibonacci::Goal> goal)
  {
    RCLCPP_INFO(this->get_logger(), "Received goal request with order %d", goal->order);
    (void)uuid;
    return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
  }

  rclcpp_action::CancelResponse handle_cancel(
    const std::shared_ptr<GoalHandleFibonacci> goal_handle)
  {
    RCLCPP_INFO(this->get_logger(), "Received request to cancel goal");
    (void)goal_handle;
    return rclcpp_action::CancelResponse::ACCEPT;
  }

  void handle_accepted(const std::shared_ptr<GoalHandleFibonacci> goal_handle)
  {
    using namespace std::placeholders;
    // this needs to return quickly to avoid blocking the executor, so spin up a new thread
    std::thread{std::bind(&FibonacciActionServer::execute, this, _1), goal_handle}.detach();
  }

  void execute(const std::shared_ptr<GoalHandleFibonacci> goal_handle)
  {
    RCLCPP_INFO(this->get_logger(), "Executing goal");
    rclcpp::Rate loop_rate(1);
    const auto goal = goal_handle->get_goal();
    auto feedback = std::make_shared<Fibonacci::Feedback>();
    auto & sequence = feedback->partial_sequence;
    sequence.push_back(0);
    sequence.push_back(1);
    auto result = std::make_shared<Fibonacci::Result>();

    for (int i = 1; (i < goal->order) && rclcpp::ok(); ++i) {
      // Check if there is a cancel request
      if (goal_handle->is_canceling()) {
        result->sequence = sequence;
        goal_handle->canceled(result);
        RCLCPP_INFO(this->get_logger(), "Goal canceled");
        return;
      }
      // Update sequence
      sequence.push_back(sequence[i] + sequence[i - 1]);
      // Publish feedback
      goal_handle->publish_feedback(feedback);
      RCLCPP_INFO(this->get_logger(), "Publish feedback");

      loop_rate.sleep();
    }

    // Check if goal is done
    if (rclcpp::ok()) {
      result->sequence = sequence;
      goal_handle->succeed(result);
      RCLCPP_INFO(this->get_logger(), "Goal succeeded");
    }
  }
};  // class FibonacciActionServer

}  // namespace action_tutorials_cpp

RCLCPP_COMPONENTS_REGISTER_NODE(action_tutorials_cpp::FibonacciActionServer)

• 编译动作服务器，在action_tutorials_cpp/CMakeLists.txt添加以下内容，并在find_package调用后添加以下内容

    add_library(action_server SHARED
  src/fibonacci_action_server.cpp)
target_include_directories(action_server PRIVATE
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)
target_compile_definitions(action_server
  PRIVATE "ACTION_TUTORIALS_CPP_BUILDING_DLL")
ament_target_dependencies(action_server
  "action_tutorials_interfaces"
  "rclcpp"
  "rclcpp_action"
  "rclcpp_components")
rclcpp_components_register_node(action_server PLUGIN "action_tutorials_cpp::FibonacciActionServer" EXECUTABLE fibonacci_action_server)
install(TARGETS
  action_server
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin)

• 进入action_ws

colcon build

• 运行动作服务器

ros2 run action_tutorials_cpp fibonacci_action_server