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Added random_generator package, including an action interface, action client and action server, all in one.
Signed-off-by: Tirine <[email protected]>
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‎rclcpp/actions/random_generator/CMakeLists.txt

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cmake_minimum_required(VERSION 3.8)
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project(random_generator)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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# Action Interface
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rosidl_generate_interfaces(${PROJECT_NAME}
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"action/Randomizer.action"
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)
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ament_export_dependencies(
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rosidl_default_runtime
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)
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# Action Client
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add_library(action_client SHARED
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src/randomizer_action_client.cpp)
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target_include_directories(action_client PRIVATE
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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target_compile_definitions(action_client
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PRIVATE "RANDOM_GENERATOR_BUILDING_DLL")
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ament_target_dependencies(action_client
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"rclcpp"
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"rclcpp_action"
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"rclcpp_components")
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rclcpp_components_register_node(action_client
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PLUGIN "random_generator::RandomizerActionClient"
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EXECUTABLE randomizer_action_client)
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install(TARGETS action_client
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin)
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# Action Server
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add_library(action_server SHARED
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src/randomizer_action_server.cpp)
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target_include_directories(action_server PRIVATE
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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target_compile_definitions(action_server
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PRIVATE "RANDOM_GENERATOR_BUILDING_DLL")
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ament_target_dependencies(action_server
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"rclcpp"
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"rclcpp_action"
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"rclcpp_components")
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rclcpp_components_register_node(action_server
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PLUGIN "random_generator::RandomizerActionServer"
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EXECUTABLE randomizer_action_server)
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install(TARGETS action_server
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin)
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# Include the action interface to the client and server, both the library and executable
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rosidl_target_interfaces(action_server
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${PROJECT_NAME} "rosidl_typesupport_cpp")
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rosidl_target_interfaces(action_client
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${PROJECT_NAME} "rosidl_typesupport_cpp")
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rosidl_target_interfaces(randomizer_action_client
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${PROJECT_NAME} "rosidl_typesupport_cpp")
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rosidl_target_interfaces(randomizer_action_server
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${PROJECT_NAME} "rosidl_typesupport_cpp")
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# Finally
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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#set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()

‎rclcpp/actions/random_generator/README.md

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# A single package with the action interface and the client and server.
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This package contains an few example which show how to create a single package with the interface, client and server, all in one.
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The main difference between the msg/srv interface that was included into a package with it's client and service is that an action client and server needs to have both the library and executable included in the rosidl_typesupport_cpp in the CMakeLists file.
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‎rclcpp/actions/random_generator/action/Randomizer.action

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uint16 number_of_values
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float64 min_val
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float64 max_val
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---
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float64[] random_values
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---
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uint16 number_of_random_values_calculated
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float64 new_random_value

‎rclcpp/actions/random_generator/include/random_generator/visibility_control.h

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#ifndef RANDOM_GENERATOR__VISIBILITY_CONTROL_H_
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#define RANDOM_GENERATOR__VISIBILITY_CONTROL_H_
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
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// https://gcc.gnu.org/wiki/Visibility
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#if defined _WIN32 || defined __CYGWIN__
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#ifdef __GNUC__
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#define RANDOM_GENERATOR_EXPORT __attribute__ ((dllexport))
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#define RANDOM_GENERATOR_IMPORT __attribute__ ((dllimport))
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#else
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#define RANDOM_GENERATOR_EXPORT __declspec(dllexport)
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#define RANDOM_GENERATOR_IMPORT __declspec(dllimport)
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#endif
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#ifdef RANDOM_GENERATOR_BUILDING_DLL
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#define RANDOM_GENERATOR_PUBLIC RANDOM_GENERATOR_EXPORT
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#else
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#define RANDOM_GENERATOR_PUBLIC RANDOM_GENERATOR_IMPORT
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#endif
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#define RANDOM_GENERATOR_PUBLIC_TYPE RANDOM_GENERATOR_PUBLIC
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#define RANDOM_GENERATOR_LOCAL
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#else
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#define RANDOM_GENERATOR_EXPORT __attribute__ ((visibility("default")))
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#define RANDOM_GENERATOR_IMPORT
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#if __GNUC__ >= 4
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#define RANDOM_GENERATOR_PUBLIC __attribute__ ((visibility("default")))
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#define RANDOM_GENERATOR_LOCAL __attribute__ ((visibility("hidden")))
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#else
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#define RANDOM_GENERATOR_PUBLIC
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#define RANDOM_GENERATOR_LOCAL
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#endif
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#define RANDOM_GENERATOR_PUBLIC_TYPE
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#endif
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#ifdef __cplusplus
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}
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#endif
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#endif // RANDOM_GENERATOR__VISIBILITY_CONTROL_H_

‎rclcpp/actions/random_generator/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>random_generator</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="[email protected]">tirine</maintainer>
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<license>TODO: License declaration</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>rosidl_default_generators</buildtool_depend>
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<depend>randomizer_action_interface</depend>
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<depend>action_msgs</depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_action</depend>
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<depend>rclcpp_components</depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎rclcpp/actions/random_generator/src/randomizer_action_client.cpp

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// Copyright 2016 Open Source Robotics Foundation, Inc.
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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// http://www.apache.org/licenses/LICENSE-2.0
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <functional>
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#include <future>
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#include <memory>
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#include <sstream>
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#include <string>
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#include "random_generator/action/randomizer.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "rclcpp_action/rclcpp_action.hpp"
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#include "rclcpp_components/register_node_macro.hpp"
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namespace random_generator {
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class RandomizerActionClient : public rclcpp::Node {
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public:
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using Randomizer = action::Randomizer;
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using GoalHandleRandomizer = rclcpp_action::ClientGoalHandle<Randomizer>;
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explicit RandomizerActionClient(const rclcpp::NodeOptions& options)
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: Node("randomizer_action_client", options) {
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this->client_ptr_ = rclcpp_action::create_client<Randomizer>(this, "randomizer");
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this->timer_ = this->create_wall_timer(std::chrono::milliseconds(500),
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std::bind(&RandomizerActionClient::send_goal, this));
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}
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void send_goal() {
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using namespace std::placeholders;
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this->timer_->cancel();
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if (!this->client_ptr_->wait_for_action_server()) {
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RCLCPP_ERROR(this->get_logger(), "Action server not available after waiting");
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rclcpp::shutdown();
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}
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auto goal_msg = Randomizer::Goal();
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goal_msg.number_of_values = 10;
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goal_msg.min_val = 0.5;
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goal_msg.max_val = 9.5;
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RCLCPP_INFO(this->get_logger(), "Sending goal");
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auto send_goal_options = rclcpp_action::Client<Randomizer>::SendGoalOptions();
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send_goal_options.goal_response_callback =
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std::bind(&RandomizerActionClient::goal_response_callback, this, _1);
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send_goal_options.feedback_callback =
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std::bind(&RandomizerActionClient::feedback_callback, this, _1, _2);
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send_goal_options.result_callback =
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std::bind(&RandomizerActionClient::result_callback, this, _1);
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this->client_ptr_->async_send_goal(goal_msg, send_goal_options);
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}
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private:
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rclcpp_action::Client<Randomizer>::SharedPtr client_ptr_;
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rclcpp::TimerBase::SharedPtr timer_;
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void goal_response_callback(std::shared_future<GoalHandleRandomizer::SharedPtr> future) {
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auto goal_handle = future.get();
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if (!goal_handle) {
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RCLCPP_ERROR(this->get_logger(), "Goal was rejected by server");
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} else {
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RCLCPP_INFO(this->get_logger(), "Goal accepted by server, waiting for result");
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}
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}
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void feedback_callback(GoalHandleRandomizer::SharedPtr,
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const std::shared_ptr<const Randomizer::Feedback> feedback) {
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std::stringstream ss;
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ss << std::setprecision(6);
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ss << "Next random number: " << feedback->new_random_value
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<< ". \t Done: " << feedback->number_of_random_values_calculated << " values.";
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RCLCPP_INFO(this->get_logger(), ss.str().c_str());
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}
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void result_callback(const GoalHandleRandomizer::WrappedResult& result_handle) {
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switch (result_handle.code) {
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case rclcpp_action::ResultCode::SUCCEEDED:
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break;
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case rclcpp_action::ResultCode::ABORTED:
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RCLCPP_ERROR(this->get_logger(), "Goal was aborted");
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return;
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case rclcpp_action::ResultCode::CANCELED:
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RCLCPP_ERROR(this->get_logger(), "Goal was canceled");
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return;
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default:
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RCLCPP_ERROR(this->get_logger(), "Unknown result code");
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return;
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}
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std::stringstream ss;
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ss << "Result received: ";
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for (auto number : result_handle.result->random_values) {
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ss << number << " ";
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}
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RCLCPP_INFO(this->get_logger(), ss.str().c_str());
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rclcpp::shutdown();
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}
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}; // class RandomizerActionClient
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} // namespace random_generator
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RCLCPP_COMPONENTS_REGISTER_NODE(random_generator::RandomizerActionClient)

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