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