fibonacci_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/FibonacciAction.h>
 
int main (int argc, char **argv)
{
  ros::init(argc, argv, "test_fibonacci");
 
  // create the action client
  // true causes the client to spin its own thread
  actionlib::SimpleActionClient<actionlib_tutorials::FibonacciAction> ac("fibonacci", true);
 
  ROS_INFO("Waiting for action server to start.");
  // wait for the action server to start
  ac.waitForServer(); //will wait for infinite time
 
  ROS_INFO("Action server started, sending goal.");
  // send a goal to the action
  actionlib_tutorials::FibonacciGoal goal;
  goal.order = 20;
  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());
    actionlib_tutorials::FibonacciResult result = *(ac.getResult());
    std::stringstream result_string;
    std::copy(result.sequence.begin(), result.sequence.end(),
              std::ostream_iterator<int>(result_string, " "));
    ROS_INFO("Action result: %s", result_string.str().c_str());
  }
  else
    ROS_INFO("Action did not finish before the time out.");
 
  //exit
  return 0;
}