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Sascha Jongebloed
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Created First Version of ROS Action Services
1 parent edd1bf5 commit 810bd24

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‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.0.2)
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project(knowrob_designator)
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## Find catkin and required components
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find_package(catkin REQUIRED COMPONENTS
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actionlib
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actionlib_msgs
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rospy
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std_msgs
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actionlib
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actionlib_msgs
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message_generation
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knowrob_ros # for KnowRobRosLib
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)
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catkin_python_setup()
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## Declare ROS actions
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add_action_files(
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DIRECTORY action
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FILES LogDesignator.action
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FILES
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DesignatorInit.action
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DesignatorResolutionStart.action
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DesignatorResolutionFinished.action
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DesignatorExecutionStart.action
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DesignatorExecutionFinished.action
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)
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## Generate messages from actions
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generate_messages(
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DEPENDENCIES actionlib_msgs std_msgs
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DEPENDENCIES
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std_msgs
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actionlib_msgs
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)
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## Declare catkin package
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catkin_package(
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CATKIN_DEPENDS actionlib actionlib_msgs rospy std_msgs message_runtime knowrob_ros
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CATKIN_DEPENDS rospy std_msgs actionlib actionlib_msgs message_runtime
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)
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# list all executable python and shell scripts for installation
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install(PROGRAMS
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scripts/*
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)

‎action/DesignatorExecutionFinished.action‎

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# Logs that the designator has finished executing.
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# - `designator_id`: Unique ID of this designator
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# - `json_designator`: Final JSON (if different from last state)
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# - `timestamp`: Time of completion
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string designator_id
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string json_designator
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time stamp
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---
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bool success
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string message
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---
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string status

‎action/DesignatorExecutionStart.action‎

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# Logs an update during the execution of a designator.
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# - `designator_id`: Unique ID of this designator
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# - `json_designator`: Updated JSON (if different from previous log)
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# - `timestamp`: Time of update
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string designator_id
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string json_designator
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time stamp
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---
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bool success
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string message
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---
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string status

‎action/DesignatorInit.action‎

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# Logs a root or nested designator being created.
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# - `designator_id`: Unique ID of this designator
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# - `parent_id`: ID of parent designator (or empty for root)
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# - `json_designator`: Full JSON structure of the designator
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# - `timestamp`: Time of logging
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string designator_id
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string parent_id
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string json_designator
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time stamp
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---
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bool success
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string message
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---
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string status

‎action/DesignatorResolutionFinished.action‎

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# Logs that a new designator was resolved from another.
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# - `designator_id`: Unique ID of resolved designator
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# - `resolved_from_id`: ID of the designator it was resolved from
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# - `json_designator`: Full JSON structure of the resolved designator
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# - `timestamp`: Time of resolution
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string designator_id
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string resolved_from_id
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string json_designator
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time stamp
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---
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bool success
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string message
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---
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string status

‎action/DesignatorResolutionStart.action‎

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# Logs that a designator is now being executed.
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# - `designator_id`: Unique ID of this designator
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# - `json_designator`: Current JSON content (could be updated)
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# - `timestamp`: Time of execution logging
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string designator_id
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string json_designator
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time stamp
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---
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bool success
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string message
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---
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string status

‎action/LogDesignator.action‎

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This file was deleted.

‎action/ObjectDesignator‎

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# Add or modify and object
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string json_designator
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time start
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time end
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---
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bool success
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string message
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---
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string status

‎scripts/knowrob_designator_client.py‎

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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# Test client for DesignatorResolveStart action
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import rospy
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import actionlib
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from knowrob_designator.msg import LogDesignatorAction, LogDesignatorGoal
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from knowrob_designator.msg import DesignatorResolutionStartAction, DesignatorResolutionStartGoal
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from time import time
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rospy.init_node('designator_test_client')
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client = actionlib.SimpleActionClient('/knowrob_designator/log', LogDesignatorAction)
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client.wait_for_server()
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def main():
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rospy.init_node('designator_resolve_test_client')
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goal = LogDesignatorGoal()
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goal.json_designator = """
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{
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"anAction": {
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"type": "Transporting",
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"objectActedOn": {
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"anObject": {
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"type": "Milk"
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}
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},
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"target": {
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"theLocation": {
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"goal": {
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"theObject": {
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"name": "Table1"
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client = actionlib.SimpleActionClient('/knowrob/designator_resolving_started', DesignatorResolutionStartAction)
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rospy.loginfo("Waiting for action server...")
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client.wait_for_server()
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goal = DesignatorResolutionStartGoal()
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goal.designator_id = "desig_001"
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goal.json_designator = """
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{
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"anAction": {
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"type": "Transporting",
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"objectActedOn": {
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"anObject": {
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"type": "Milk"
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}
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},
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"target": {
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"theLocation": {
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"goal": {
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"theObject": {
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"name": "Table1"
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}
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}
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}
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}
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}
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}
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}
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}
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"""
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"""
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goal.stamp = rospy.Time.now()
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rospy.loginfo("Sending goal...")
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client.send_goal(goal)
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client.wait_for_result()
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result = client.get_result()
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rospy.loginfo(f"Result: success={result.success}, message='{result.message}'")
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client.send_goal(goal)
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client.wait_for_result()
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print(client.get_result())
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if __name__ == '__main__':
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main()

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