Session 4
Review of ROS Report
Task - Complete the Action Client
In session 03 we started writing our own Action Server using our DriveDistence interface. Now, to test your knowledge you are asked to write the action client using the Official ROS Documentation, Writing an action server and client (Python), this puts you in a more realistic setting.
Your task: read the Official tutorial, and use it as baseline to write your own action client using your own DriveDistence interface.
Review RCLPY API
# publisher API
pub = create_publisher(<MsgType>, "<topic_name>", <QoS>)
create_timer(<timer_rate_in_sec>, callback_timer_done)
pub.publish(<Message[MsgType]>)
# subscriber API
create_subscription(<MsgType>, "<topic_name>", callback_new_msg, <QoS>)
def callback_new_msg(new_msg): ...
# service server API
create_service(<ServiceType>, "<service_name>", callback_service_requested)
# service client API
service_client = create_client(<ServiceType>, "<service_name>")
future = service_client.call_async(<Service[ServiceType]>)
rclpy.spin_until_future_complete(<Node>, future)
ActionServer(<Node>, <...>)
ActionClient(<Node>, <...>)