shape_client.cpp

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#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <turtle_actionlib/ShapeAction.h>
 
int main (int argc, char **argv)
{
  ros::init(argc, argv, "test_shape"); 
 
  // create the action client
  // true causes the client to spin it's own thread
  actionlib::SimpleActionClient<turtle_actionlib::ShapeAction> ac("turtle_shape", 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 
  turtle_actionlib::ShapeGoal goal;
  goal.edges = 5;
  goal.radius = 1.3;
  ac.sendGoal(goal);
  
  //wait for the action to return
  bool finished_before_timeout = ac.waitForResult(ros::Duration(40.0));
 
  if (finished_before_timeout)
    {
      actionlib::SimpleClientGoalState state = ac.getState();
      ROS_INFO("Action finished: %s",state.toString().c_str());
    }
  else  
    ROS_INFO("Action did not finish before the time out.");
 
  //exit
  return 0;
}