/learn_dock

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/learn_dock Quick Facts

Category

🧭 Navigation

Message type

pal_docking_msgs/action/LearnDock

Docking Manager implements high-level docking functionalities such as learning the localization of docking stations by dynamically detecting station and storing them in a persistent database.

For more information, check the Docking Manager documentation.

SERVER

• docking_manager

Quick snippets

Send a goal from the command-line

$ ros2 action send_goal /learn_dock pal_docking_msgs/action/LearnDock # press Tab to complete the message prototype

How to use in your code

PythonC++

Call the action from a Python script

#!/usr/bin/env python

import rclpy
from rclpy.action import ActionClient
from rclpy.node import Node

from pal_docking_msgs.action import LearnDock

class LearnDockActionClient(Node):

    def __init__(self):
        super().__init__('learn_dock_client')
        self._action_client = ActionClient(self, LearnDock, '/learn_dock')

    def send_goal(self, a, b):
        goal_msg = LearnDock.Goal()

        # TODO: adapt to the action's parameters
        # check the pal_docking_msgs/action/LearnDockGoal message
        # definition 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 = LearnDockActionClient()

    # TODO: adapt to your action's parameters
    future = action_client.send_goal(a, b)

    rclpy.spin_until_future_complete(action_client, future)

    rclpy.shutdown()