[ros-users] Actionlib Server communication

[Prasad Dixit]

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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