roslibjs/packages/roslib-examples/src/ros2_action_server.html at fe2c09c739a2efe9fdaf422330f84e746711d265 · RobotWebTools/roslibjs · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
<!doctype html>
<html>
  <head>
    <meta charset="utf-8" />
    <script src="/roslib/importmap.js"></script>

    <script type="module">
      import * as ROSLIB from "roslib";
      // Connecting to ROS
      // -----------------
      var ros = new ROSLIB.Ros({
        url: "ws://localhost:9090",
      });

      ros.on("connection", function () {
        console.log("Connection made!");
      });

      // If there is an error on the backend, an 'error' emit will be emitted.
      ros.on("error", function (error) {
        console.log(error);
      });

      // The ActionServer
      // ----------------

      var fibonacciServer = new ROSLIB.Action({
        ros: ros,
        name: "/fibonacci",
        actionType: "example_interfaces/Fibonacci",
      });

      var actionCallback = function (goal, id) {
        console.log(
          "Received action goal on " +
            fibonacciServer.name +
            ", order: " +
            goal.order,
        );
        console.log("ID: " + id);
        fibonacciSequence = [];
        fibonacciSequence.push(0);
        fibonacciSequence.push(1);

        // failure case
        if (goal.order > 47) {
          console.log(
            "Aborting. Value will exceed maximum signed integer value.",
          );
          fibonacciServer.setFailed(id);
          return;
        }

        // publish feedback
        for (var i = 1; i < goal.order; i++) {
          fibonacciSequence.push(
            fibonacciSequence[i] + fibonacciSequence[i - 1],
          );
          console.log("Sending feedback: " + fibonacciSequence);
          fibonacciServer.sendFeedback(id, {
            partial_sequence: fibonacciSequence,
          });
        }

        // send result
        console.log("Sending result: " + fibonacciSequence);
        fibonacciServer.setSucceeded(id, { sequence: fibonacciSequence });
      };

      var cancelCallback = function (id) {
        console.log("Canceled action with goal ID " + id);
        fibonacciServer.setCanceled(id, { sequence: [] });
      };

      fibonacciServer.advertise(actionCallback, cancelCallback);
    </script>
  </head>

  <body>
    <h1>Fibonacci ActionServer Example</h1>
    <p>
      Run the following commands in the terminal then refresh this page. Check
      the JavaScript console for the output.
    </p>
    <ol>
      <li>
        <tt>ros2 launch rosbridge_server rosbridge_websocket_launch.xml</tt>
      </li>
      <li><tt>refresh this page</tt></li>
      <li>
        <tt>ros2 run action_tutorials_py fibonacci_action_client</tt>
        <br />or<br />
        <tt
          >ros2 action send_goal --feedback /fibonacci
          example_interfaces/action/Fibonacci order:\ 20\
        </tt>
      </li>
    </ol>
  </body>
</html>