Add action_tutorials package

action_tutorials/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(action_tutorials)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(action_msgs REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "action/Fibonacci.action"
+  DEPENDENCIES action_msgs
+)
+
+install(
+  PROGRAMS 
+    bin/fibonacci_action_client.py
+    bin/fibonacci_action_server.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

action_tutorials/README.md

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+## action_tutorials
+
+The code in this package is supplementary material for the [Actions Tutorials](https://index.ros.org/doc/ros2/Tutorials/Actions).

action_tutorials/action/Fibonacci.action

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+int32 order
+---
+int32[] sequence
+---
+int32[] partial_sequence

action_tutorials/bin/fibonacci_action_client.py

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+# 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.
+
+import rclpy
+from rclpy.action import ActionClient
+from rclpy.node import Node
+
+from action_tutorials.action import Fibonacci
+
+
+class FibonacciActionClient(Node):
+
+    def __init__(self):
+        super().__init__('fibonacci_action_client')
+        self._action_client = ActionClient(self, Fibonacci, 'fibonacci')
+
+    def send_goal(self, order):
+        goal_msg = Fibonacci.Goal()
+        goal_msg.order = order
+
+        self._action_client.wait_for_server()
+
+        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 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 get_result_callback(self, future):
+        result = future.result().result
+        self.get_logger().info('Result: {0}'.format(result.sequence))
+        rclpy.shutdown()
+
+    def feedback_callback(self, feedback_msg):
+        feedback = feedback_msg.feedback
+        self.get_logger().info('Received feedback: {0}'.format(feedback.partial_sequence))
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    action_client = FibonacciActionClient()
+
+    action_client.send_goal(10)
+
+    rclpy.spin(action_client)
+
+
+if __name__ == '__main__':
+    main()

action_tutorials/bin/fibonacci_action_server.py

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+# 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.import time
+
+import time
+
+import rclpy
+from rclpy.action import ActionServer
+from rclpy.node import Node
+
+from action_tutorials.action import Fibonacci
+
+
+class FibonacciActionServer(Node):
+
+    def __init__(self):
+        super().__init__('fibonacci_action_server')
+        self._action_server = ActionServer(
+            self,
+            Fibonacci,
+            'fibonacci',
+            self.execute_callback)
+
+    def execute_callback(self, goal_handle):
+        self.get_logger().info('Executing goal...')
+
+        feedback_msg = Fibonacci.Feedback()
+        feedback_msg.partial_sequence = [0, 1]
+
+        for i in range(1, goal_handle.request.order):
+            feedback_msg.partial_sequence.append(
+                feedback_msg.partial_sequence[i] + feedback_msg.partial_sequence[i-1])
+            self.get_logger().info('Feedback: {0}'.format(feedback_msg.partial_sequence))
+            goal_handle.publish_feedback(feedback_msg)
+            time.sleep(1)
+
+        goal_handle.succeed()
+
+        result = Fibonacci.Result()
+        result.sequence = feedback_msg.partial_sequence
+        return result
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    fibonacci_action_server = FibonacciActionServer()
+
+    rclpy.spin(fibonacci_action_server)
+
+
+if __name__ == '__main__':
+    main()

action_tutorials/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>action_tutorials</name>
+  <version>0.7.3</version>
+  <description>Action tutorial code examples</description>
+  <maintainer email="[email protected]">Jacob Perron</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>action_msgs</depend>
+
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>