rclpy action examples (#222)

* Copy rclpy action examples from #216 * Bump version of examples_rclpy_action to match other packages * Consolidate composable action client example * Add action client example that is not composable * Wait for action server * Restructure into separate packages for action client and action server examples This package structure is consistent with examples for services and topics. * Update API in action server examples * Rename action server examples Now the 'simplest' example is 'server.py'. * Add action server example that is not composable * Update setup.py * Fix syntax * Update action client examples to use goal handle API for the result Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Improve action client output and result handling Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Update action server examples Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Move action examples into Python packages This avoid top-level module names from clashing when installed. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add action client cancel example Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Address review comments * Update author * Update copyright year * Shutdown client example after result received Signed-off-by: Jacob Perron <jacob@openrobotics.org> * GoalResponse.ACCEPT_AND_EXECUTE -> GoalResponse.ACCEPT Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix client_cancel example Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Remove race from server_single_goal example Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add action server example that defers the execution of an accepted goal Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Reduce the timer period for the client cancel example This makes it easy to experiment with the scenario where a deferred goal is canceled prior to execution. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Support canceling goals with non-composable action server example Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add action server example that queues goals Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Address review - Fix comment - Add author tag to package.xml Signed-off-by: Jacob Perron <jacob@openrobotics.org>
ros2 · Mar 5, 2019 · cfc9bc6 · cfc9bc6
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diff --git a/rclpy/actions/minimal_action_client/examples_rclpy_minimal_action_client/__init__.py b/rclpy/actions/minimal_action_client/examples_rclpy_minimal_action_client/__init__.py
diff --git a/rclpy/actions/minimal_action_client/examples_rclpy_minimal_action_client/client.py b/rclpy/actions/minimal_action_client/examples_rclpy_minimal_action_client/client.py
@@ -0,0 +1,82 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from action_msgs.msg import GoalStatus
+from example_interfaces.action import Fibonacci
+
+import rclpy
+from rclpy.action import ActionClient
+from rclpy.node import Node
+
+
+class MinimalActionClient(Node):
+
+    def __init__(self):
+        super().__init__('minimal_action_client')
+        self._action_client = ActionClient(self, Fibonacci, 'fibonacci')
+
+    def goal_response_callback(self, future):
+        goal_handle = future.result()
+        if not goal_handle.accepted:
+            self.get_logger().info('Goal rejected :(')
+            return
+
+        self.get_logger().info('Goal accepted :)')
+
+        self._get_result_future = goal_handle.get_result_async()
+        self._get_result_future.add_done_callback(self.get_result_callback)
+
+    def feedback_callback(self, feedback):
+        self.get_logger().info('Received feedback: {0}'.format(feedback.sequence))
+
+    def get_result_callback(self, future):
+        status = future.result().action_status
+        if status == GoalStatus.STATUS_SUCCEEDED:
+            self.get_logger().info('Goal succeeded! Result: {0}'.format(future.result().sequence))
+        else:
+            self.get_logger().info('Goal failed with status: {0}'.format(status))
+
+        # Shutdown after receiving a result
+        rclpy.shutdown()
+
+    def send_goal(self):
+        self.get_logger().info('Waiting for action server...')
+        self._action_client.wait_for_server()
+
+        goal_msg = Fibonacci.Goal()
+        goal_msg.order = 10
+
+        self.get_logger().info('Sending goal request...')
+
+        self._send_goal_future = self._action_client.send_goal_async(
+            goal_msg,
+            feedback_callback=self.feedback_callback)
+
+        self._send_goal_future.add_done_callback(self.goal_response_callback)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    action_client = MinimalActionClient()
+
+    action_client.send_goal()
+
+    rclpy.spin(action_client)
+
+    action_client.destroy_node()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/rclpy/actions/minimal_action_client/examples_rclpy_minimal_action_client/client_cancel.py b/rclpy/actions/minimal_action_client/examples_rclpy_minimal_action_client/client_cancel.py
@@ -0,0 +1,94 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from action_msgs.msg import GoalStatus
+from example_interfaces.action import Fibonacci
+
+import rclpy
+from rclpy.action import ActionClient
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.node import Node
+from rclpy.timer import WallTimer
+
+
+class MinimalActionClient(Node):
+
+    def __init__(self):
+        super().__init__('minimal_action_client')
+        self._action_client = ActionClient(self, Fibonacci, 'fibonacci')
+
+    def cancel_done(self, future):
+        cancel_response = future.result()
+        if len(cancel_response.goals_canceling) > 0:
+            self.get_logger().info('Goal successfully canceled')
+        else:
+            self.get_logger().info('Goal failed to cancel')
+
+        rclpy.shutdown()
+
+    def goal_response_callback(self, future):
+        goal_handle = future.result()
+        if not goal_handle.accepted:
+            self.get_logger().info('Goal rejected :(')
+            return
+
+        self._goal_handle = goal_handle
+
+        self.get_logger().info('Goal accepted :)')
+
+        # Start a 2 second timer
+        self._timer = self.create_timer(2.0, self.timer_callback)
+
+    def feedback_callback(self, feedback):
+        self.get_logger().info('Received feedback: {0}'.format(feedback.sequence))
+
+    def timer_callback(self):
+        self.get_logger().info('Canceling goal')
+        # Cancel the goal
+        future = self._goal_handle.cancel_goal_async()
+        future.add_done_callback(self.cancel_done)
+
+        # Cancel the timer
+        self._timer.cancel()
+
+    def send_goal(self):
+        self.get_logger().info('Waiting for action server...')
+        self._action_client.wait_for_server()
+
+        goal_msg = Fibonacci.Goal()
+        goal_msg.order = 10
+
+        self.get_logger().info('Sending goal request...')
+
+        self._send_goal_future = self._action_client.send_goal_async(
+            goal_msg,
+            feedback_callback=self.feedback_callback)
+
+        self._send_goal_future.add_done_callback(self.goal_response_callback)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    action_client = MinimalActionClient()
+
+    action_client.send_goal()
+
+    rclpy.spin(action_client)
+
+    action_client.destroy_node()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/...tions/minimal_action_client/examples_rclpy_minimal_action_client/client_not_composable.py b/...tions/minimal_action_client/examples_rclpy_minimal_action_client/client_not_composable.py
@@ -0,0 +1,77 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from action_msgs.msg import GoalStatus
+
+from example_interfaces.action import Fibonacci
+
+import rclpy
+from rclpy.action import ActionClient
+from rclpy.node import Node
+
+
+def feedback_cb(logger, feedback):
+    logger.info('Received feedback: {0}'.format(feedback.sequence))
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = rclpy.create_node('minimal_action_client')
+
+    action_client = ActionClient(node, Fibonacci, 'fibonacci')
+
+    node.get_logger().info('Waiting for action server...')
+
+    action_client.wait_for_server()
+
+    goal_msg = Fibonacci.Goal()
+    goal_msg.order = 10
+
+    node.get_logger().info('Sending goal request...')
+
+    send_goal_future = action_client.send_goal_async(
+        goal_msg, feedback_callback=lambda feedback: feedback_cb(node.get_logger(), feedback))
+
+    rclpy.spin_until_future_complete(node, send_goal_future)
+
+    goal_handle = send_goal_future.result()
+
+    if not goal_handle.accepted:
+        node.get_logger().info('Goal rejected :(')
+        action_client.destroy()
+        node.destroy_node()
+        rclpy.shutdown()
+        return
+
+    node.get_logger().info('Goal accepted :)')
+
+    get_result_future = goal_handle.get_result_async()
+
+    rclpy.spin_until_future_complete(node, get_result_future)
+
+    status = get_result_future.result().action_status
+    if status == GoalStatus.STATUS_SUCCEEDED:
+        node.get_logger().info(
+           'Goal succeeded! Result: {0}'.format(get_result_future.result().sequence))
+    else:
+        node.get_logger().info('Goal failed with status code: {0}'.format(status))
+
+    action_client.destroy()
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/rclpy/actions/minimal_action_client/package.xml b/rclpy/actions/minimal_action_client/package.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>examples_rclpy_minimal_action_client</name>
+  <version>0.6.1</version>
+  <description>Examples of minimal action clients using rclpy.</description>
+
+  <maintainer email="sloretz@openrobotics.org">Shane Loretz</maintainer>
+  <license>Apache License 2.0</license>
+
+  <author email="jacob@openrobotics.org">Jacob Perron</author>
+
+  <exec_depend>example_interfaces</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+
+  <!-- These test dependencies are optional
+  Their purpose is to make sure that the code passes the linters -->
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/rclpy/actions/minimal_action_client/resource/examples_rclpy_minimal_action_client b/rclpy/actions/minimal_action_client/resource/examples_rclpy_minimal_action_client
diff --git a/rclpy/actions/minimal_action_client/setup.cfg b/rclpy/actions/minimal_action_client/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/examples_rclpy_minimal_action_client
+[install]
+install-scripts=$base/lib/examples_rclpy_minimal_action_client
diff --git a/rclpy/actions/minimal_action_client/setup.py b/rclpy/actions/minimal_action_client/setup.py
@@ -0,0 +1,37 @@
+from setuptools import setup
+
+package_name = 'examples_rclpy_minimal_action_client'
+
+setup(
+    name=package_name,
+    version='0.6.1',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    author='Jacob Perron',
+    author_email='jacob@openrobotics.org',
+    maintainer='Shane Loretz',
+    maintainer_email='sloretz@openrobotics.org',
+    keywords=['ROS'],
+    classifiers=[
+        'Intended Audience :: Developers',
+        'License :: OSI Approved :: Apache Software License',
+        'Programming Language :: Python',
+        'Topic :: Software Development',
+    ],
+    description='Examples of action clients using rclpy.',
+    license='Apache License, Version 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'client = ' + package_name + '.client:main',
+            'client_cancel = ' + package_name + '.client_cancel:main',
+            'client_not_composable = ' + package_name + '.client_not_composable:main',
+        ],
+    },
+)
diff --git a/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/__init__.py b/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/__init__.py