actionlib_tutorials: fibonacci_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/FibonacciAction.h>
00042 
00043 
00044 
00045 int main (int argc, char **argv)
00046 {
00047   ros::init(argc, argv, "test_fibonacci"); 
00048 
00049   // create the action client
00050   // true causes the client to spin it's own thread
00051   actionlib::SimpleActionClient<actionlib_tutorials::FibonacciAction> ac("fibonacci", true); 
00052 
00053   ROS_INFO("Waiting for action server to start.");
00054   // wait for the action server to start
00055   ac.waitForServer(); //will wait for infinite time
00056  
00057   ROS_INFO("Action server started, sending goal.");
00058   // send a goal to the action 
00059   actionlib_tutorials::FibonacciGoal goal;
00060   goal.order = 20;
00061   ac.sendGoal(goal);
00062   
00063   //wait for the action to return
00064   bool finished_before_timeout = ac.waitForResult(ros::Duration(30.0));
00065 
00066   if (finished_before_timeout)
00067   {
00068     actionlib::SimpleClientGoalState state = ac.getState();
00069     ROS_INFO("Action finished: %s",state.toString().c_str());
00070   }
00071   else  
00072     ROS_INFO("Action did not finish before the time out.");
00073 
00074   //exit
00075   return 0;
00076 }