ROS2轻松学2-工具篇5-actions演示讲义(含视频)

ROS2轻松学2-工具篇5-actions演示讲义

说明:

• 介绍如何认识actions

参考:

• 中文教程
• 英文教程

示例:

• action帮助

ros2 action -h

• 启动turtlesim和键盘控制

ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key

• 按G|B|V|C|D|E|R|T 实现旋转，按F键盘取消

• 查看节点action的服务端和客户端

ros2 node info /turtlesim

• 查看动作列表

ros2 action list
ros2 action list -t #显示动作类型

• 查看动作信息

ros2 action info <action>
ros2 action info /turtle1/rotate_absolute

• 查看动作消息内容

ros2 interface show turtlesim/action/RotateAbsolute

• 发送动作目标信息

ros2 action send_goal <action_name> <action_type>
ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 1.57}"
#带反馈信息
ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 0}" --feedback

视频演示:

• 在线版本:

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