averaging_client.cpp

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#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <actionlib_tutorials/AveragingAction.h>
#include <boost/thread.hpp>
 
void spinThread()
{
  ros::spin();
}
 
int main (int argc, char **argv)
{
  ros::init(argc, argv, "test_averaging");
 
  // create the action client
  actionlib::SimpleActionClient<actionlib_tutorials::AveragingAction> ac("averaging");
  boost::thread spin_thread(&spinThread);
 
  ROS_INFO("Waiting for action server to start.");
  ac.waitForServer();
 
  ROS_INFO("Action server started, sending goal.");
  // send a goal to the action
  actionlib_tutorials::AveragingGoal goal;
  goal.samples = 100;
  ac.sendGoal(goal);
 
  //wait for the action to return
  bool finished_before_timeout = ac.waitForResult(ros::Duration(30.0));
 
  if (finished_before_timeout)
  {
    actionlib::SimpleClientGoalState state = ac.getState();
    ROS_INFO("Action finished: %s",state.toString().c_str());
  }
  else
    ROS_INFO("Action did not finish before the time out.");
 
  // shutdown the node and join the thread back before exiting
  ros::shutdown();
  spin_thread.join();
 
  //exit
  return 0;
}