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/skill/look_at¶
Caution
This documentation page has been auto-generated.
It may be missing some details.
/skill/look_at Quick Facts
- Category
- Message type
Controls the gaze behaviour of the robot. See look_at for details.
Quick snippets¶
Send a goal from the command-line¶
$ ros2 action send_goal /skill/look_at interaction_skills/action/LookAt # press Tab to complete the message prototype
How to use in your code¶
Call the action from a Python script¶
#!/usr/bin/env python
import rclpy
from rclpy.action import ActionClient
from rclpy.node import Node
from interaction_skills.action import LookAt
class LookAtActionClient(Node):
def __init__(self):
super().__init__('skill_look_at_client')
self._action_client = ActionClient(self, LookAt, '/skill/look_at')
def send_goal(self, a, b):
goal_msg = LookAt.Goal()
# TODO: adapt to the action's parameters
# check https://github.com/pal-robotics/interaction_skills/tree/main/action/LookAt.action
# for the possible goal parameters
# goal_msg.a = a
# goal_msg.b = b
self._action_client.wait_for_server()
return self._action_client.send_goal_async(goal_msg)
if __name__ == '__main__':
rclpy.init(args=args)
action_client = LookAtActionClient()
# TODO: adapt to your action's parameters
future = action_client.send_goal(a, b)
rclpy.spin_until_future_complete(action_client, future)
rclpy.shutdown()
Call the action from a C++ program¶
#include <functional>
#include <future>
#include <memory>
#include <string>
#include <sstream>
#include <chrono>
#include "interaction_skills/action/look_at.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "rclcpp_components/register_node_macro.hpp"
using namespace std::chrono_literals;
using namespace std;
class LookAtActionClient : public rclcpp::Node
{
public:
using LookAt = interaction_skills::action::LookAt;
using GoalHandleLookAt = rclcpp_action::ClientGoalHandle<LookAt>;
explicit LookAtActionClient(const rclcpp::NodeOptions & options)
: Node("skill_look_at_action_client", options)
{
this->client_ptr_ = rclcpp_action::create_client<LookAt>(
this,
"/skill/look_at");
this->timer_ = this->create_wall_timer(
500ms,
bind(&LookAtActionClient::send_goal, this));
}
void send_goal()
{
using namespace std::placeholders;
this->timer_->cancel();
if (!this->client_ptr_->wait_for_action_server()) {
RCLCPP_ERROR(this->get_logger(), "Action server not available after waiting");
rclcpp::shutdown();
}
auto goal_msg = LookAt::Goal();
// check https://github.com/pal-robotics/interaction_skills/tree/main/action/LookAt.action
// for the possible goal parameters
// goal_msg.... = ...;
RCLCPP_INFO(this->get_logger(), "Sending goal");
auto send_goal_options = rclcpp_action::Client<LookAt>::SendGoalOptions();
send_goal_options.goal_response_callback =
bind(&LookAtActionClient::goal_response_callback, this, _1);
send_goal_options.feedback_callback =
bind(&LookAtActionClient::feedback_callback, this, _1, _2);
send_goal_options.result_callback =
bind(&LookAtActionClient::result_callback, this, _1);
this->client_ptr_->async_send_goal(goal_msg, send_goal_options);
}
private:
rclcpp_action::Client<LookAt>::SharedPtr client_ptr_;
rclcpp::TimerBase::SharedPtr timer_;
void goal_response_callback(const GoalHandleLookAt::SharedPtr & goal_handle)
{
if (!goal_handle) {
RCLCPP_ERROR(this->get_logger(), "Goal was rejected by server");
} else {
RCLCPP_INFO(this->get_logger(), "Goal accepted by server, waiting for result");
}
}
void feedback_callback(
GoalHandleLookAt::SharedPtr,
const shared_ptr<const LookAt::Feedback> feedback)
{
stringstream ss;
ss << "Next number in sequence received: ";
for (auto number : feedback->partial_sequence) {
ss << number << " ";
}
RCLCPP_INFO(this->get_logger(), ss.str().c_str());
}
void result_callback(const GoalHandleLookAt::WrappedResult & result)
{
switch (result.code) {
case rclcpp_action::ResultCode::SUCCEEDED:
break;
case rclcpp_action::ResultCode::ABORTED:
RCLCPP_ERROR(this->get_logger(), "Goal was aborted");
return;
case rclcpp_action::ResultCode::CANCELED:
RCLCPP_ERROR(this->get_logger(), "Goal was canceled");
return;
default:
RCLCPP_ERROR(this->get_logger(), "Unknown result code");
return;
}
stringstream ss;
ss << "Result received: ";
for (auto number : result.result->sequence) {
ss << number << " ";
}
RCLCPP_INFO(this->get_logger(), ss.str().c_str());
rclcpp::shutdown();
}
}; // class LookAtActionClient
RCLCPP_COMPONENTS_REGISTER_NODE(LookAtActionClient)