static void Main(string[] args)
{
#if (DEBUG)
Environment.SetEnvironmentVariable("ROS_MASTER_URI", "http://localhost:11311/");
#endif
Console.WriteLine("Start ROS");
ROS.Init(ref args, "ActionServerClientSlowDummy");
ICallbackQueue callbackQueue = new CallbackQueue();
var asyncSpinner = new AsyncSpinner(callbackQueue);
asyncSpinner.Start();
NodeHandle nodeHandle = new NodeHandle(callbackQueue);
ActionClient <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback> actionClient = null;
// setup action server start
Console.WriteLine("Create server");
var actionServer = new ActionServer <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>(nodeHandle, "test_action");
Param.Set("status_list_timeout", 999.9);
actionServer.RegisterGoalCallback((sgoalHandle) =>
{
Thread thread = new Thread(() => serverGoalCallback(sgoalHandle, actionServer, actionClient));
thread.Start();
});
Console.WriteLine("Start Server");
actionServer.Start();
Console.WriteLine("Server Started");
// setup action server finish
// setup client
actionClient = new ActionClient <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>("test_action_slow", nodeHandle);
// send action request to serverslowdummy
Console.WriteLine("Wait for client and server to negotiate connection");
bool started = actionClient.WaitForActionServerToStart(new TimeSpan(0, 0, 3));
if (!started)
{
Console.WriteLine("Negotiation with server failed!");
}
Console.ReadLine();
actionServer.Shutdown();
nodeHandle.shutdown();
ROS.shutdown();
}
public void Should_CreateGoalAndGetItDone()
{
NodeHandle serverNodeHandle = new NodeHandle();
NodeHandle clientNodeHandle = new NodeHandle();
Console.WriteLine("Create server");
var actionServer = new ActionServer <FollowJointTrajectoryGoal, FollowJointTrajectoryResult,
FollowJointTrajectoryFeedback>(serverNodeHandle, "SimpleTest");
Console.WriteLine("Create client");
var actionClient = new ActionClient <FollowJointTrajectoryGoal, FollowJointTrajectoryResult,
FollowJointTrajectoryFeedback>("SimpleTest", clientNodeHandle);
Console.WriteLine("Start Server");
actionServer.Start();
bool goalRegistered = false;
actionServer.RegisterGoalCallback((goalHandle) =>
{
Console.WriteLine($"Goal registered callback. Joint Name {goalHandle.Goal.trajectory.joint_names[0]}");
goalRegistered = true;
});
Console.WriteLine("Wait for client and server to negotiate connection");
bool started = actionClient.WaitForActionServerToStart(new TimeSpan(0, 0, 20));
Assert.Equal(true, started);
var goal = new FollowJointTrajectoryGoal();
goal.trajectory = new Messages.trajectory_msgs.JointTrajectory();
goal.trajectory.joint_names = new string[] { "Hallo Welt!" };
Console.WriteLine("Send goal from client");
var cts = new CancellationTokenSource();
actionClient.SendGoalAsync(goal, cts.Token).GetAwaiter().GetResult();
Console.WriteLine("Wait for action server receiving the goal");
while (!goalRegistered)
{
Thread.Sleep(1);
}
}
static void Main(string[] args)
{
#if (DEBUG)
Environment.SetEnvironmentVariable("ROS_MASTER_URI", "http://192.168.200.32:11311/");
#endif
Console.WriteLine("Start ROS");
ROS.Init(ref args, "ActionServer");
var asyncSpinner = new AsyncSpinner();
asyncSpinner.Start();
NodeHandle serverNodeHandle = new NodeHandle();
Console.WriteLine("Create server");
var actionServer = new ActionServer <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>(serverNodeHandle, "test_action");
Console.WriteLine("Start Server");
actionServer.Start();
actionServer.RegisterGoalCallback((goalHandle) =>
{
Console.WriteLine($"Goal registered callback. Goal: {goalHandle.Goal.goal}");
var fb = new Messages.actionlib.TestFeedback();
fb.feedback = 10;
goalHandle.PublishFeedback(fb);
Thread.Sleep(100);
var result = new Messages.actionlib.TestResult();
result.result = 123;
goalHandle.SetGoalStatus(Messages.actionlib_msgs.GoalStatus.SUCCEEDED, "done");
actionServer.PublishResult(goalHandle.GoalStatus, result);
});
while (!Console.KeyAvailable)
{
Thread.Sleep(1);
}
actionServer.Shutdown();
serverNodeHandle.shutdown();
ROS.shutdown();
}
static void Main(string[] args)
{
Console.WriteLine("Start ROS");
ROS.Init(new string[0], "ActionServer");
var asyncSpinner = new AsyncSpinner();
asyncSpinner.Start();
NodeHandle serverNodeHandle = new NodeHandle();
Console.WriteLine("Create server");
var actionServer = new ActionServer <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>(serverNodeHandle, "test_action");
Console.WriteLine("Start Server");
actionServer.Start();
actionServer.RegisterGoalCallback((goalHandle) =>
{
Console.WriteLine($"Goal registered callback. Goal: {goalHandle.Goal.goal}");
var fb = new Messages.actionlib.TestFeedback();
fb.feedback = 10;
goalHandle.PublishFeedback(fb);
Thread.Sleep(100);
var result = new Messages.actionlib.TestResult();
result.result = 123;
goalHandle.SetGoalStatus(Messages.actionlib_msgs.GoalStatus.SUCCEEDED, "done");
actionServer.PublishResult(goalHandle.GoalStatus, result);
});
while (!Console.KeyAvailable)
{
Thread.Sleep(1);
}
actionServer.Shutdown();
serverNodeHandle.Shutdown();
ROS.Shutdown();
}
static void Main(string[] args)
{
//#if (DEBUG)
// Environment.SetEnvironmentVariable("ROS_HOSTNAME", "");
// Environment.SetEnvironmentVariable("ROS_IP", "192.168.200.32");
// Environment.SetEnvironmentVariable("ROS_MASTER_URI", "http://192.168.200.231:11311/");
//#endif
Environment.SetEnvironmentVariable("ROS_HOSTNAME", "localhost");
Environment.SetEnvironmentVariable("ROS_IP", "127.0.0.1");
Environment.SetEnvironmentVariable("ROS_MASTER_URI", "http://localhost:11311/");
Console.WriteLine("Start ROS");
ROS.Init(ref args, "ActionServerSlowDummy");
ICallbackQueue callbackQueue = new CallbackQueue();
var asyncSpinner = new AsyncSpinner(callbackQueue);
asyncSpinner.Start();
//var spinner = new SingleThreadSpinner(callbackQueue);
NodeHandle serverNodeHandle = new NodeHandle(callbackQueue);
Console.WriteLine("Create server");
var actionServer = new ActionServer <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>(serverNodeHandle, "test_action_slow");
Console.WriteLine("Start Server");
Param.Set("status_list_timeout", 999.9);
actionServer.Start();
actionServer.RegisterGoalCallback((goalHandle) =>
{
Console.WriteLine($"Goal registered callback. Goal: {goalHandle.Goal.goal}");
goalHandle.SetAccepted("accepted");
new Thread(() =>
{
for (int x = 0; x < 77; x++)
{
var fb = new Messages.actionlib.TestFeedback
{
feedback = x
};
goalHandle.PublishFeedback(fb);
Thread.Sleep(100);
}
var result = new Messages.actionlib.TestResult
{
result = 123
};
goalHandle.SetGoalStatus(Messages.actionlib_msgs.GoalStatus.SUCCEEDED, "done");
actionServer.PublishResult(goalHandle.GoalStatus, result);
}).Start();
});
Console.ReadLine();
actionServer.Shutdown();
serverNodeHandle.shutdown();
ROS.shutdown();
}
