ROS2學習之旅（21）——建立一個動作服務和客戶節點（C++）

Love&Robot發表於2021-07-16

動作是ROS中的一種非同步通訊形式，動作客戶端向動作伺服器傳送目標請求，目標伺服器向操作客戶端傳送目標反饋和結果。本文基於前一篇自定義動作博文。

1.建立一個`action_turtorials_cpp`包

1.1 建立一個`action_turtorials_cpp`包

在終端執行：

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

1.2新增可見性控制元件

為了使包可以在Windows上編譯和工作，我們需要新增一些“可見性控制”。有關為什麼需要這樣做的詳細資訊，請參見這裡。

開啟action_tutorials_cpp/include/action_tutorials_cpp/ visbility_control .h，並放入以下程式碼：

#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_

2.編寫一個動作伺服器

接下來編寫一個動作伺服器，使用在前文建立的動作介面來計算斐波那契數列。

2.1編寫動作伺服器

開啟action_tutorials_cpp/src/fibonacci_action_server.cpp（需要自己建立），輸入以下程式碼：

#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)

前幾行包含需要編譯的所有標頭檔案。

接下來，建立一個rclcpp::Node的派生類：

class FibonacciActionServer : public rclcpp::Node

FibonacciActionServer類的建構函式初始化fibonacci_action_server節點：

 explicit FibonacciActionServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
  : Node("fibonacci_action_server", options)

建構函式還例項化了一個新的動作伺服器：

    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));

這個動作服務有6樣東西：

模板化的動作型別名稱：Fibonacci。
將一個ROS2節點的動作新增到：this。
動作名稱：fibonacci。
處理目標的回撥函式：handle_goal。
處理取消的回撥函式：handle_cancel。
處理目標接收的函式：handle_accept。

該檔案的下一個內容是各種回撥的實現。請注意，所有的回撥都需要快速返回，否則就會有耗盡執行程式的風險。

處理新的目標的回撥函式：

  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;
  }

這個實現僅僅接收目標。

處理取消的回撥函式：

  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;
  }

這個實現只是告訴客戶機它接受了取消。

最後一個回撥函式接受一個新目標並開始處理它:

  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();
  }

由於執行是一個長期執行的操作，所以派生出一個執行緒來執行實際工作，並從handle_accepted快速返回。

所有進一步的處理和更新都在新執行緒的execute方法中完成：

  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");
    }
  }

這個工作執行緒每秒處理一個斐波那契數列序號，為每個步驟釋出一個反饋更新。當它完成處理時，它將goal_handle標記為成功，然後退出。

2.2編譯動作伺服器

設定CMakeLists.txt，以便編譯動作伺服器。開啟action_tutorials_cpp/CMakeLists.txt，並在find_package呼叫之後新增以下內容：

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)

現在可以編譯包了，進入action_ws的根目錄，並執行:

colcon build

2.3執行動作伺服器

現在已經構建了動作伺服器，可以執行它：

ros2 run action_tutorials_cpp fibonacci_action_server

3.編寫動作客服端

3.1編寫動作客戶節點程式碼

開啟action_tutorials_cpp/src/fibonacci_action_client.cpp（需要建立），加入以下程式碼：

#include <functional>
#include <future>
#include <memory>
#include <string>
#include <sstream>

#include "action_tutorials_interfaces/action/fibonacci.hpp"

#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "rclcpp_components/register_node_macro.hpp"

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

  explicit FibonacciActionClient(const rclcpp::NodeOptions & options)
  : Node("fibonacci_action_client", options)
  {
    this->client_ptr_ = rclcpp_action::create_client<Fibonacci>(
      this,
      "fibonacci");

    this->timer_ = this->create_wall_timer(
      std::chrono::milliseconds(500),
      std::bind(&FibonacciActionClient::send_goal, this));
  }

  void send_goal()
  {
    using namespace std::placeholders;

    this->timer_->cancel();

    if (!this->client_ptr_->wait_for_action_server()) {
      RCLCPP_ERROR(this->get_logger(), "Action server not available after waiting");
      rclcpp::shutdown();
    }

    auto goal_msg = Fibonacci::Goal();
    goal_msg.order = 10;

    RCLCPP_INFO(this->get_logger(), "Sending goal");

    auto send_goal_options = rclcpp_action::Client<Fibonacci>::SendGoalOptions();
    send_goal_options.goal_response_callback =
      std::bind(&FibonacciActionClient::goal_response_callback, this, _1);
    send_goal_options.feedback_callback =
      std::bind(&FibonacciActionClient::feedback_callback, this, _1, _2);
    send_goal_options.result_callback =
      std::bind(&FibonacciActionClient::result_callback, this, _1);
    this->client_ptr_->async_send_goal(goal_msg, send_goal_options);
  }

private:
  rclcpp_action::Client<Fibonacci>::SharedPtr client_ptr_;
  rclcpp::TimerBase::SharedPtr timer_;

  void goal_response_callback(std::shared_future<GoalHandleFibonacci::SharedPtr> future)
  {
    auto goal_handle = future.get();
    if (!goal_handle) {
      RCLCPP_ERROR(this->get_logger(), "Goal was rejected by server");
    } else {
      RCLCPP_INFO(this->get_logger(), "Goal accepted by server, waiting for result");
    }
  }

  void feedback_callback(
    GoalHandleFibonacci::SharedPtr,
    const std::shared_ptr<const Fibonacci::Feedback> feedback)
  {
    std::stringstream ss;
    ss << "Next number in sequence received: ";
    for (auto number : feedback->partial_sequence) {
      ss << number << " ";
    }
    RCLCPP_INFO(this->get_logger(), ss.str().c_str());
  }

  void result_callback(const GoalHandleFibonacci::WrappedResult & result)
  {
    switch (result.code) {
      case rclcpp_action::ResultCode::SUCCEEDED:
        break;
      case rclcpp_action::ResultCode::ABORTED:
        RCLCPP_ERROR(this->get_logger(), "Goal was aborted");
        return;
      case rclcpp_action::ResultCode::CANCELED:
        RCLCPP_ERROR(this->get_logger(), "Goal was canceled");
        return;
      default:
        RCLCPP_ERROR(this->get_logger(), "Unknown result code");
        return;
    }
    std::stringstream ss;
    ss << "Result received: ";
    for (auto number : result.result->sequence) {
      ss << number << " ";
    }
    RCLCPP_INFO(this->get_logger(), ss.str().c_str());
    rclcpp::shutdown();
  }
};  // class FibonacciActionClient

}  // namespace action_tutorials_cpp

RCLCPP_COMPONENTS_REGISTER_NODE(action_tutorials_cpp::FibonacciActionClient)

前幾行包含需要編譯的所有標頭檔案。

接下來，建立一個rclcpp::Node的派生類:

class FibonacciActionClient : public rclcpp::Node

FibonacciActionClient類的建構函式初始化節點fibonacci_action_client：

 explicit FibonacciActionClient(const rclcpp::NodeOptions & options)
  : Node("fibonacci_action_client", options)

建構函式還例項化了一個新的動作客戶端：

    this->client_ptr_ = rclcpp_action::create_client<Fibonacci>(
      this,
      "fibonacci");

一個動作客戶端需要3件東西：

動作型別名稱：Fibonacci。
將動作客戶端新增到的ROS2節點:this。
動作名：fibonacci。

例項化一個ROS定時器，它將啟動對send_goal的唯一呼叫：

    this->timer_ = this->create_wall_timer(
      std::chrono::milliseconds(500),
      std::bind(&FibonacciActionClient::send_goal, this));

當計時器到期時，它將呼叫send_goal：

void send_goal()
  {
    using namespace std::placeholders;

    this->timer_->cancel();

    if (!this->client_ptr_->wait_for_action_server()) {
      RCLCPP_ERROR(this->get_logger(), "Action server not available after waiting");
      rclcpp::shutdown();
    }

    auto goal_msg = Fibonacci::Goal();
    goal_msg.order = 10;

    RCLCPP_INFO(this->get_logger(), "Sending goal");

    auto send_goal_options = rclcpp_action::Client<Fibonacci>::SendGoalOptions();
    send_goal_options.goal_response_callback =
      std::bind(&FibonacciActionClient::goal_response_callback, this, _1);
    send_goal_options.feedback_callback =
      std::bind(&FibonacciActionClient::feedback_callback, this, _1, _2);
    send_goal_options.result_callback =
      std::bind(&FibonacciActionClient::result_callback, this, _1);
    this->client_ptr_->async_send_goal(goal_msg, send_goal_options);
  }

這個函式的功能如下:

取消計時器(因此只呼叫一次)。
等待動作伺服器啟動。
例項化一個新的Fibonacci::Goal。
設定響應、反饋和結果回撥。
將目標傳送到伺服器。

當伺服器接收並接受目標時，它將向客戶機傳送一個響應。該響應由goal_response_callback處理：

  void goal_response_callback(std::shared_future<GoalHandleFibonacci::SharedPtr> future)
  {
    auto goal_handle = future.get();
    if (!goal_handle) {
      RCLCPP_ERROR(this->get_logger(), "Goal was rejected by server");
    } else {
      RCLCPP_INFO(this->get_logger(), "Goal accepted by server, waiting for result");
    }
  }

假設目標被伺服器接受，它將開始處理。任何給客戶端的反饋都將被feedback_callback處理：

  void feedback_callback(
    GoalHandleFibonacci::SharedPtr,
    const std::shared_ptr<const Fibonacci::Feedback> feedback)
  {
    std::stringstream ss;
    ss << "Next number in sequence received: ";
    for (auto number : feedback->partial_sequence) {
      ss << number << " ";
    }
    RCLCPP_INFO(this->get_logger(), ss.str().c_str());
  }

當伺服器完成處理後，它將向客戶機返回一個結果。結果由result_callback處理:

  void result_callback(const GoalHandleFibonacci::WrappedResult & result)
  {
    switch (result.code) {
      case rclcpp_action::ResultCode::SUCCEEDED:
        break;
      case rclcpp_action::ResultCode::ABORTED:
        RCLCPP_ERROR(this->get_logger(), "Goal was aborted");
        return;
      case rclcpp_action::ResultCode::CANCELED:
        RCLCPP_ERROR(this->get_logger(), "Goal was canceled");
        return;
      default:
        RCLCPP_ERROR(this->get_logger(), "Unknown result code");
        return;
    }
    std::stringstream ss;
    ss << "Result received: ";
    for (auto number : result.result->sequence) {
      ss << number << " ";
    }
    RCLCPP_INFO(this->get_logger(), ss.str().c_str());
    rclcpp::shutdown();
  }

3.2編譯動作客戶端

開啟action_tutorials_cpp/CMakeLists.txt，在find_package下新增：

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

編譯：

colcon build

3.3執行動作客戶端

現在已經構建了動作客戶端，可以執行它。首先，確保動作伺服器在單獨的終端中執行：

ros2 run action_tutorials_cpp fibonacci_action_server

執行動作客戶端:

ros2 run action_tutorials_cpp fibonacci_action_client

現在可以看到被接受的目標日誌訊息、列印的反饋和最終的結果。

4.總結

在本文中，編寫了一個C++動作伺服器和客戶端，併為它們配置目標、反饋和結果。

如果給您帶來幫助，希望能給點個關注，以後還會陸續更新有關機器人的內容，點個關注不迷路~歡迎大家一起交流學習。
都看到這了，點個推薦再走吧~
未經允許，禁止轉載。

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