Add ROS Action Server for recipe dispensing

Author: nevalsar

CMakeLists.txt

@@ -10,7 +10,10 @@ project(ratatouille_planner)
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
+  genmsg
   std_msgs
+  actionlib_msgs
+  actionlib
 )
 
 ## System dependencies are found with CMake's conventions
@@ -61,17 +64,19 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
+add_action_files(
+    DIRECTORY
+    action
+    FILES
+    RecipeRequest.action
+)
 
 ## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
+generate_messages(
+  DEPENDENCIES
 #   std_msgs
-# )
+  actionlib_msgs
+)
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##

action/RecipeRequest.action

@@ -0,0 +1,8 @@
+# Goal
+uint32 recipe_id  # specify which recipe to cook
+---
+# Result
+string status  # OK or error message
+---
+# Feedback
+uint32 percent_complete

package.xml

@@ -80,6 +80,8 @@
   <exec_depend>ar_track_alvar</exec_depend>
   <exec_depend>robotiq_urcap_control</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
+  <depend>actionlib</depend>
+  <depend>actionlib_msgs</depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->

src/ratatouille_recipe_action_server_test.py

@@ -0,0 +1,58 @@
+#! /usr/bin/env python
+
+import rospy
+
+import actionlib
+
+import ratatouille_planner.msg
+
+
+class RatatouilleAction(object):
+    # create messages that are used to publish feedback/result
+    _feedback = ratatouille_planner.msg.RecipeRequestFeedback()
+    _result = ratatouille_planner.msg.RecipeRequestResult()
+
+    def __init__(self, name):
+        self._action_name = name
+        self._as = actionlib.SimpleActionServer(
+            self._action_name,
+            ratatouille_planner.msg.RecipeRequestAction,
+            execute_cb=self.execute_cb,
+            auto_start=False,
+        )
+        rospy.loginfo("Server started")
+        self._as.start()
+
+    def execute_cb(self, goal):
+        # helper variables
+        r = rospy.Rate(1)
+        success = True
+
+        # publish info to the console for the user
+        rospy.loginfo("%s: Executing" % (self._action_name))
+
+        # start executing the action
+        for i in range(1, 10):
+            # check that preempt has not been requested by the client
+            if self._as.is_preempt_requested():
+                rospy.loginfo("%s: Preempted" % self._action_name)
+                self._as.set_preempted()
+                success = False
+                break
+
+            self._feedback.percent_complete = i * 10
+            # publish the feedback
+            self._as.publish_feedback(self._feedback)
+            # this step is not necessary, the sequence is computed at 1 Hz for demonstration purposes
+            r.sleep()
+
+        if success:
+            self._result.status = "OK"
+            rospy.loginfo("%s: Succeeded" % self._action_name)
+            self._as.set_succeeded(self._result)
+
+
+if __name__ == "__main__":
+    rospy.init_node("RecipeRequest")
+    server = RatatouilleAction(rospy.get_name())
+    rospy.spin()