fibonacci_server.py
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1 #! /usr/bin/env python
2 
3 import rospy
4 
5 import actionlib
6 
7 import actionlib_tutorials.msg
8 
9 class FibonacciAction(object):
10  # create messages that are used to publish feedback/result
11  _feedback = actionlib_tutorials.msg.FibonacciFeedback()
12  _result = actionlib_tutorials.msg.FibonacciResult()
13 
14  def __init__(self, name):
15  self._action_name = name
16  self._as = actionlib.SimpleActionServer(self._action_name, actionlib_tutorials.msg.FibonacciAction, execute_cb=self.execute_cb, auto_start = False)
17  self._as.start()
18 
19  def execute_cb(self, goal):
20  # helper variables
21  r = rospy.Rate(1)
22  success = True
23 
24  # append the seeds for the fibonacci sequence
25  self._feedback.sequence = []
26  self._feedback.sequence.append(0)
27  self._feedback.sequence.append(1)
28 
29  # publish info to the console for the user
30  rospy.loginfo('%s: Executing, creating fibonacci sequence of order %i with seeds %i, %i' % (self._action_name, goal.order, self._feedback.sequence[0], self._feedback.sequence[1]))
31 
32  # start executing the action
33  for i in range(1, goal.order):
34  # check that preempt has not been requested by the client
35  if self._as.is_preempt_requested():
36  rospy.loginfo('%s: Preempted' % self._action_name)
37  self._as.set_preempted()
38  success = False
39  break
40  self._feedback.sequence.append(self._feedback.sequence[i] + self._feedback.sequence[i-1])
41  # publish the feedback
42  self._as.publish_feedback(self._feedback)
43  # this step is not necessary, the sequence is computed at 1 Hz for demonstration purposes
44  r.sleep()
45 
46  if success:
47  self._result.sequence = self._feedback.sequence
48  rospy.loginfo('%s: Succeeded' % self._action_name)
49  self._as.set_succeeded(self._result)
50 
51 if __name__ == '__main__':
52  rospy.init_node('fibonacci')
53  server = FibonacciAction(rospy.get_name())
54  rospy.spin()


actionlib_tutorials
Author(s): Melonee Wise
autogenerated on Mon Feb 28 2022 22:11:41