[fix] up action sample

action_sample/action/DoDishes.action

@@ -1,5 +1,8 @@
+# Goal
 uint32 dishwasher_id
 ---
+# Result
 uint32 total_dishes_cleaned
 ---
+# Feedback
 float32 percent_complete

action_sample/launch/start_py.launch

@@ -0,0 +1,19 @@
+<launch>
+
+<node
+    pkg="action_sample"
+    type="DoDishes_client.py"
+    name="do_dishes_client"
+    required="true"
+    output="screen"
+/>
+
+<node
+    pkg="action_sample"
+    type="DoDishes_server.py"
+    name="do_dishes_server"
+    respawn="true"
+    output="screen"
+/>
+
+</launch>

action_sample/scripts/DoDishes_client.py

@@ -0,0 +1,39 @@
+#! /usr/bin/env python3
+
+import rospy
+import actionlib
+
+from action_sample.msg import DoDishesAction, DoDishesGoal
+
+def done_cb(state, result):
+  rospy.loginfo("%d dishes is clean, state is %s" %(result.total_dishes_cleaned, str(state)))
+  rospy.signal_shutdown('Normal shutdown')
+
+def active_cb():
+  rospy.loginfo("job is action")
+  
+def feedback_cb(feedback):
+  rospy.loginfo("percent is %f" %feedback.percent_complete)
+
+def main():
+  rospy.init_node("do_dishes_client")
+  
+  client = actionlib.SimpleActionClient("do_dishes", DoDishesAction)
+  
+  rospy.loginfo("waiting for action server to start")
+  client.wait_for_server()
+  
+  rospy.loginfo("action server started, sending goal")
+  goal = DoDishesGoal()
+  goal.dishwasher_id = 1
+
+  client.send_goal(goal, done_cb=done_cb, active_cb=active_cb, feedback_cb=feedback_cb)
+  
+  rospy.sleep(4)
+  client.cancel_goal()
+  
+  rospy.spin()
+
+
+if __name__ == "__main__":
+  main()

action_sample/scripts/DoDishes_server.py

@@ -0,0 +1,53 @@
+#! /usr/bin/env python3
+
+import rospy
+import actionlib
+from action_sample.msg import DoDishesAction, DoDishesGoal, DoDishesFeedback, DoDishesResult
+
+def execute_cb(goal, server):
+  rate = rospy.Rate(1)
+  
+  rospy.loginfo("dishwasher %d is working" %goal.dishwasher_id)
+
+class DishWasherServer(object):
+  def __init__(self, action_name):
+    self._action_name = action_name
+    self._server = actionlib.SimpleActionServer(self._action_name, DoDishesAction, execute_cb=self.execute_cb, auto_start=False)
+
+  def start_server(self):
+    self._server.start()
+    
+  def execute_cb(self, goal):
+    rate = rospy.Rate(1)
+    
+    rospy.loginfo("dishwasher %d is working" %goal.dishwasher_id)
+    
+    feedback = DoDishesFeedback()
+    result = DoDishesResult()
+    
+    for i in range(10):
+      feedback.percent_complete = i * 10
+      self._server.publish_feedback(feedback)
+      rate.sleep()
+
+      if self._server.is_preempt_requested():
+        rospy.loginfo("the goal is canceled")
+        result.total_dishes_cleaned = i * 10
+        self._server.set_preempted(result)
+        return
+    
+    rospy.loginfo("dishwasher %d finish working" %goal.dishwasher_id)
+    result.total_dishes_cleaned = (i+1) * 10
+    self._server.set_succeeded(result)
+
+
+def main():
+  rospy.init_node("do_dishes_server")
+  
+  dish_washer_server = DishWasherServer("do_dishes")
+  dish_washer_server.start_server()
+  
+  rospy.spin()
+
+if __name__ == "__main__":
+  main()