在C++中實(shí)現(xiàn)ROS 2動(dòng)作服務(wù)器,你需要遵循以下步驟:
action_server::ActionServer
的類。這個(gè)類將負(fù)責(zé)處理客戶端的請(qǐng)求,并調(diào)用相應(yīng)的動(dòng)作任務(wù)。std::shared_ptr<action_goal_handle>
參數(shù),用于接收客戶端發(fā)送的動(dòng)作目標(biāo)。動(dòng)作任務(wù)的實(shí)現(xiàn)應(yīng)該包含在單獨(dú)的函數(shù)中。spin()
方法。這將使動(dòng)作服務(wù)器開(kāi)始監(jiān)聽(tīng)客戶端請(qǐng)求,并處理它們。以下是一個(gè)簡(jiǎn)單的C++ ROS 2動(dòng)作服務(wù)器示例:
#include <action_server/action_server.hpp>
#include <your_package/your_action.hpp>
namespace your_package
{
class YourActionServer : public action_server::ActionServer<YourActionGoal, YourActionResult, YourActionFeedback>
{
public:
YourActionServer(std::string name, rclcpp::Node::SharedPtr node)
: ActionServer(name, node)
{
// 初始化代碼
}
void goal_callback(std::shared_ptr<action_goal_handle> goal_handle) override
{
// 處理動(dòng)作請(qǐng)求
YourActionGoal goal = goal_handle->get_goal();
// 調(diào)用動(dòng)作任務(wù)
auto result = execute_goal(goal);
if (result)
{
// 動(dòng)作任務(wù)成功完成,發(fā)送結(jié)果
goal_handle->set_result(result);
}
else
{
// 動(dòng)作任務(wù)失敗,發(fā)送錯(cuò)誤信息
goal_handle->set_aborted();
}
}
private:
std::shared_ptr<YourActionResult> execute_goal(const YourActionGoal& goal)
{
// 在這里執(zhí)行動(dòng)作任務(wù)
// 返回結(jié)果或錯(cuò)誤信息
}
};
}
int main(int argc, char *argv[])
{
rclcpp::init(argc, argv);
auto node = std::make_shared<rclcpp::Node>("your_action_server");
auto action_server = std::make_shared<your_package::YourActionServer>("your_action_server", node);
action_server->start();
rclcpp::spin(node);
action_server->shutdown();
rclcpp::shutdown();
return 0;
}
請(qǐng)注意,這只是一個(gè)簡(jiǎn)單的示例,你需要根據(jù)你的需求進(jìn)行適當(dāng)?shù)男薷暮蛿U(kuò)展。此外,你還需要定義相應(yīng)的動(dòng)作消息類型(YourActionGoal
、YourActionResult
和YourActionFeedback
),并在你的節(jié)點(diǎn)中發(fā)布和訂閱相關(guān)的話題。