Mirekgoebel am 26. März 2026 um 16:03 Uhr

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	# 2) the type of the Action (related to the interface, imported on top of this script		# 2) the type of the Action (related to the interface, imported on top of this script
	# 3) the name of the Action		# 3) the name of the Action
			# !! 1)-3) must be the same in ActionClient and ActionServer
	self._action_client = ActionClient(self, InterfaceName, 'MyActionClientName')		self._action_client = ActionClient(self, InterfaceName, 'MyActionClientName')

Mirekgoebel: Die Seite wurde neu angelegt: „Kategorie:ROS2 zurück zum Hauptartikel #!/usr/bin/env python # this specifies the interpreter of this script ### ### Basic example of how to implement an action client ### # import the ROS2 Python client libraries for nodes and actions import rclpy from rclpy.action import ActionClient from rclpy.node import Node # import the interfaces used…“

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[[Kategorie:ROS2]]

[[Overview_and_the_most_important_commands_of_ROS2|zurück zum Hauptartikel]]

<source line lang="python" style="font-size:small">
#!/usr/bin/env python # this specifies the interpreter of this script

###
### Basic example of how to implement an action client
###

# import the ROS2 Python client libraries for nodes and actions
import rclpy
from rclpy.action import ActionClient
from rclpy.node import Node

# import the interfaces used
from mypackage.action import InterfaceName

class MyActionClient(Node):

def __init__(self):
super().__init__('my_action_client')
# create action client with
# 1) self: the node that contains the ActionClient
# 2) the type of the Action (related to the interface, imported on top of this script
# 3) the name of the Action
self._action_client = ActionClient(self, InterfaceName, 'MyActionClientName')

def send_goal(self, seconds):
# Start by creating a Goal() object of the InterfaceName action type
goal_msg = InterfaceName.Goal()

# set a variable
goal_msg.some_variable_time = seconds

# wait for the Action Server to be up and running
self._action_client.wait_for_server()

# send the goal to the Server using the send_goal_async method
self._send_goal_future = self._action_client.send_goal_async(
goal_msg, feedback_callback=self.feedback_callback)

# assign a callback method to be triggered when the future is completed
self._send_goal_future.add_done_callback(self.goal_response_callback)

# this method will be triggered when the goal has been processed
def goal_response_callback(self, future):
goal_handle = future.result()
if not goal_handle.accepted:
self.get_logger().info('Goal rejected :(')
return

self.get_logger().info('Goal accepted :)')

self._get_result_future = goal_handle.get_result_async()
self._get_result_future.add_done_callback(self.get_result_callback)

# assign a callback method to be triggered when the result is ready
def get_result_callback(self, future):
result = future.result().result
self.get_logger().info('Result: {0}'.format(result.success))
# shut down the node
rclpy.shutdown()

# setting up the feedback
def feedback_callback(self, feedback_msg):
feedback = feedback_msg.feedback
self.get_logger().info(
'Received feedback: {0}'.format(feedback.elapsed_time))

def main(args=None):
rclpy.init(args=args)

# creating an instance
action_client = MyActionClient()

# calling its send_goal() method, passing it five seconds as a parameter.
action_client.send_goal(5.0)

# spin the node so that the callback functions are properly executed.
rclpy.spin(action_client)

if __name__ == '__main__':
main()

</source>

ROS2: Template to program an Action Client - Versionsgeschichte

Mirekgoebel am 26. März 2026 um 16:03 Uhr