[ros-users] Actionlib Server communication

[Eitan Marder-Eppstein]

Prasad,

It looks like you're using your own custom action type called
"eskorta_move::move_baseAction"
to communicate with the navigation stack that expects an action of type
"move_base_msgs::MoveBaseAction" and, therefore, the md5sums are not
matching up.

Why are you trying to use your own action type? Does the code work if you
switch to using the action in move_base_msgs instead?

Hope this helps,

Eitan

On Sun, Oct 24, 2010 at 11:21 PM, Prasad Dixit <abhimohpra at gmail.com> wrote:

>
> Hello,
>
> I am running a navigation stack and sending goal through coding like below:
>
> using namespace eskorta_move;
>
> typedef actionlib::SimpleActionClient<eskorta_move::move_baseAction>
> Client;
>
> // Called once when the goal completes
> void doneCb(const actionlib::SimpleClientGoalState& state,
>            const move_baseResultConstPtr& result)
> {
>  ROS_INFO("Finished in state [%s]", state.toString().c_str());
>  ROS_INFO("[X]:%f [Y]:%f [W]: %f",result->base_position.pose.position.x,
> result->base_position.pose.position.y,
> result->base_position.pose.orientation.w);
>  ros::shutdown();
> }
>
> // Called once when the goal becomes active
> void activeCb()
> {
>  ROS_INFO("Goal just went active");
> }
>
> // Called every time feedback is received for the goal
> void feedbackCb(const move_baseFeedbackConstPtr& feedback)
> {
>  ROS_INFO("[X]:%f [Y]:%f [W]: %f",feedback->base_position.pose.position.x,
> feedback->base_position.pose.position.y,
> feedback->base_position.pose.orientation.w);
> }
>
>
>
> int main(int argc, char** argv)
> {
>   ros::init(argc, argv, "move_eskorta");
>
>   Client client("eskorta_base", true);
>   //client.waitForServer();
>
>   while(!client.waitForServer(ros::Duration(5.0))){
>    ROS_INFO("Waiting for the move_base action server to come up");
>  }
>
>
>   eskorta_move::move_baseGoal goal;
>
>  //  [ INFO] [1287828403.230367166]: Setting goal: Frame:/map,
> Position(-0.423, 1.915, 0.000), Orientation(0.000, 0.000, 0.000, 1.000) =
> Angle: 0.000
>   goal.target_pose.header.frame_id = "map";
>   goal.target_pose.header.stamp = ros::Time::now();
>
> // 1 mtr forward, -2.0 mtr left and 1.0 orientation
>   goal.target_pose.pose.position.x = -0.423;
>   goal.target_pose.pose.position.y = 1.915;
>   goal.target_pose.pose.orientation.w = 1.000;
>   goal.vicinity_range = 0.0;
>
>  ROS_INFO("Sending goal");
>  client.sendGoal(goal, &doneCb, &activeCb, &feedbackCb);
>  client.waitForResult();
>
>
>  /* if(client.getState() == actionlib::SimpleClientGoalState::SUCCEEDED){
>
>    ROS_INFO("Hooray, the base moved meter forward, %s");
>    }
>  else{
>     //   client.getResult();
>    ROS_INFO("The base failed to move forward 1 meter for some reason, %s"
> );}*/
>
>    ros::spin();
>
>  return 0;
> }
>
> After running stack, in between i send executable of this code. So as,
> robot
> will receive a goal.
>
> After that, i get non-stop messages like below,
> [ INFO] [1287986999.289579675]: Waiting for the move_base action server to
> come up
>
> Map is already received by the Navigation stack.
>
> When i try to change the code,
> Client client("eskorta_base", true); to Client client("move_base", true);
> then i get an error:
>
> [ERROR] [1287987393.000424927]: Client [/move_eskorta] wants topic
> /move_base/result to have datatype/md5sum
> [eskorta_move/move_baseActionResult/0ab416b06f38c51e47c9638aa34125b5], but
> our version has
> [move_base_msgs/MoveBaseActionResult/1eb06eeff08fa7ea874431638cb52332].
> Dropping connection.
>
> where, move_base another node running through Navigation stack.
>
> Am i missing something?
>
> Thanks in advance.
> - Prasad
>
>
>
> --
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