actionlib_tutorials: averaging_client.cpp Source File

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00036 
00037 /* Author: Melonee Wise */
00038 #include <ros/ros.h>
00039 #include <actionlib/client/simple_action_client.h>
00040 #include <actionlib/client/terminal_state.h>
00041 #include <actionlib_tutorials/AveragingAction.h>
00042 #include <boost/thread.hpp>
00043 
00044 void spinThread()
00045 {
00046   ros::spin();
00047 }
00048 
00049 int main (int argc, char **argv)
00050 {
00051   ros::init(argc, argv, "test_averaging"); 
00052 
00053   // create the action client
00054   actionlib::SimpleActionClient<actionlib_tutorials::AveragingAction> ac("averaging"); 
00055   boost::thread spin_thread(&spinThread);
00056 
00057   ROS_INFO("Waiting for action server to start.");
00058   ac.waitForServer(); 
00059 
00060   ROS_INFO("Action server started, sending goal.");
00061   // send a goal to the action 
00062   actionlib_tutorials::AveragingGoal goal;
00063   goal.samples = 100;
00064   ac.sendGoal(goal);
00065   
00066   //wait for the action to return
00067   bool finished_before_timeout = ac.waitForResult(ros::Duration(30.0));
00068 
00069   if (finished_before_timeout)
00070   {
00071     actionlib::SimpleClientGoalState state = ac.getState();
00072     ROS_INFO("Action finished: %s",state.toString().c_str());
00073   }
00074   else  
00075     ROS_INFO("Action did not finish before the time out.");
00076 
00077   // shutdown the node and join the thread back before exiting
00078   ros::shutdown();
00079   spin_thread.join();
00080 
00081   //exit
00082   return 0;
00083 }