ROS2入门教程-创建Action

说明：

• 介绍如何在ROS2包中定义一个动作Action

步骤：

• 创建新包

mkdir -p action_ws/src
cd action_ws/src
ros2 pkg create action_tutorials_interfaces

• 在.action文件中，用以下形式定义Actions

# Request
---
# Result
---
# Feedback

• 定义一个新Action “Fibonacci” 来计算斐波那契数列，创建新目录

cd action_tutorials_interfaces
mkdir action

• 创建Fibonacci.action，包含以下内容

int32 order
---
int32[] sequence
---
int32[] partial_sequence

• 在CMakeLists.txt，添加以下内容

find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  "action/Fibonacci.action"
)

• 在package.xml，添加所需的依赖项

<buildtool_depend>rosidl_default_generators</buildtool_depend>

<depend>action_msgs</depend>

<member_of_group>rosidl_interface_packages</member_of_group>

• 构建包

# Change to the root of the workspace
cd ~/action_ws
# Build
colcon build

• 检查我们的操作是否成功构建

# Source our workspace
# On Windows: call install/setup.bat
. install/setup.bash
# Check that our action definition exists
ros2 interface show action_tutorials_interfaces/action/Fibonacci