test_client.cpp
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00001 #include <ros/ros.h>
00002 #include <actionlib/client/simple_action_client.h>
00003 #include <actionlib/client/terminal_state.h>
00004 #include <move_base_msgs/MoveBaseAction.h>
00005 
00006 int main (int argc, char **argv)
00007 {
00008   ros::init(argc, argv, "test_fibonacci");
00009 
00010   // create the action client
00011   // true causes the client to spin it's own thread
00012   actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> ac("drive_base_action", true);
00013 
00014   ROS_INFO("Waiting for action server to start.");
00015   // wait for the action server to start
00016   ac.waitForServer(); //will wait for infinite time
00017 
00018   ROS_INFO("Action server started, sending goal.");
00019   // send a goal to the action
00020   move_base_msgs::MoveBaseGoal goal;
00021   goal.target_pose.pose.position.x  = atof(argv[1]);
00022   goal.target_pose.pose.position.y  = atof(argv[2]);
00023   ac.sendGoal(goal);
00024 
00025   //wait for the action to return
00026   bool finished_before_timeout = ac.waitForResult(ros::Duration(30.0));
00027 
00028   if (finished_before_timeout)
00029   {
00030     actionlib::SimpleClientGoalState state = ac.getState();
00031     ROS_INFO("Action finished: %s",state.toString().c_str());
00032   }
00033   else
00034     ROS_INFO("Action did not finish before the time out.");
00035 
00036   //exit
00037   return 0;
00038 }
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drive_base_action
Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 12:26:37