Added random_generator package, including an action interface, action…

… client and action server, all in one.

Signed-off-by: Tirine <[email protected]>

rclcpp/actions/random_generator/CMakeLists.txt

@@ -0,0 +1,85 @@
+cmake_minimum_required(VERSION 3.8)
+project(random_generator)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+# Action Interface
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "action/Randomizer.action"
+)
+ament_export_dependencies(
+	rosidl_default_runtime
+)
+
+# Action Client
+add_library(action_client SHARED
+  src/randomizer_action_client.cpp)
+target_include_directories(action_client PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(action_client
+  PRIVATE "RANDOM_GENERATOR_BUILDING_DLL")
+ament_target_dependencies(action_client
+  "rclcpp"
+  "rclcpp_action"
+  "rclcpp_components")
+rclcpp_components_register_node(action_client 
+  PLUGIN "random_generator::RandomizerActionClient" 
+  EXECUTABLE randomizer_action_client)
+install(TARGETS action_client
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+# Action Server
+add_library(action_server SHARED
+  src/randomizer_action_server.cpp)
+target_include_directories(action_server PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(action_server
+  PRIVATE "RANDOM_GENERATOR_BUILDING_DLL")
+ament_target_dependencies(action_server
+  "rclcpp"
+  "rclcpp_action"
+  "rclcpp_components")
+rclcpp_components_register_node(action_server 
+  PLUGIN "random_generator::RandomizerActionServer"
+  EXECUTABLE randomizer_action_server)
+install(TARGETS action_server
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+# Include the action interface to the client and server, both the library and executable
+rosidl_target_interfaces(action_server
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+rosidl_target_interfaces(action_client
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+rosidl_target_interfaces(randomizer_action_client
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+rosidl_target_interfaces(randomizer_action_server
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+# Finally
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

rclcpp/actions/random_generator/README.md

@@ -0,0 +1,6 @@
+# A single package with the action interface and the client and server.
+
+This package contains an few example which show how to create a single package with the interface, client and server, all in one.
+
+The main difference between the msg/srv interface that was included into a package with it's client and service is that an action client and server needs to have both the library and executable included in the rosidl_typesupport_cpp in the CMakeLists file.
+

rclcpp/actions/random_generator/action/Randomizer.action

@@ -0,0 +1,8 @@
+uint16 number_of_values
+float64 min_val
+float64 max_val
+---
+float64[] random_values
+---
+uint16 number_of_random_values_calculated
+float64 new_random_value

rclcpp/actions/random_generator/include/random_generator/visibility_control.h

@@ -0,0 +1,44 @@
+#ifndef RANDOM_GENERATOR__VISIBILITY_CONTROL_H_
+#define RANDOM_GENERATOR__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define RANDOM_GENERATOR_EXPORT __attribute__ ((dllexport))
+    #define RANDOM_GENERATOR_IMPORT __attribute__ ((dllimport))
+  #else
+    #define RANDOM_GENERATOR_EXPORT __declspec(dllexport)
+    #define RANDOM_GENERATOR_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef RANDOM_GENERATOR_BUILDING_DLL
+    #define RANDOM_GENERATOR_PUBLIC RANDOM_GENERATOR_EXPORT
+  #else
+    #define RANDOM_GENERATOR_PUBLIC RANDOM_GENERATOR_IMPORT
+  #endif
+  #define RANDOM_GENERATOR_PUBLIC_TYPE RANDOM_GENERATOR_PUBLIC
+  #define RANDOM_GENERATOR_LOCAL
+#else
+  #define RANDOM_GENERATOR_EXPORT __attribute__ ((visibility("default")))
+  #define RANDOM_GENERATOR_IMPORT
+  #if __GNUC__ >= 4
+    #define RANDOM_GENERATOR_PUBLIC __attribute__ ((visibility("default")))
+    #define RANDOM_GENERATOR_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define RANDOM_GENERATOR_PUBLIC
+    #define RANDOM_GENERATOR_LOCAL
+  #endif
+  #define RANDOM_GENERATOR_PUBLIC_TYPE
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RANDOM_GENERATOR__VISIBILITY_CONTROL_H_

rclcpp/actions/random_generator/package.xml

@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>random_generator</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">tirine</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>randomizer_action_interface</depend>
+  <depend>action_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_action</depend>
+  <depend>rclcpp_components</depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

rclcpp/actions/random_generator/src/randomizer_action_client.cpp

@@ -0,0 +1,116 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <functional>
+#include <future>
+#include <memory>
+#include <sstream>
+#include <string>
+
+#include "random_generator/action/randomizer.hpp"
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_action/rclcpp_action.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
+
+namespace random_generator {
+class RandomizerActionClient : public rclcpp::Node {
+ public:
+  using Randomizer = action::Randomizer;
+  using GoalHandleRandomizer = rclcpp_action::ClientGoalHandle<Randomizer>;
+
+  explicit RandomizerActionClient(const rclcpp::NodeOptions& options)
+      : Node("randomizer_action_client", options) {
+    this->client_ptr_ = rclcpp_action::create_client<Randomizer>(this, "randomizer");
+
+    this->timer_ = this->create_wall_timer(std::chrono::milliseconds(500),
+                                           std::bind(&RandomizerActionClient::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 = Randomizer::Goal();
+    goal_msg.number_of_values = 10;
+    goal_msg.min_val = 0.5;
+    goal_msg.max_val = 9.5;
+
+    RCLCPP_INFO(this->get_logger(), "Sending goal");
+
+    auto send_goal_options = rclcpp_action::Client<Randomizer>::SendGoalOptions();
+    send_goal_options.goal_response_callback =
+        std::bind(&RandomizerActionClient::goal_response_callback, this, _1);
+    send_goal_options.feedback_callback =
+        std::bind(&RandomizerActionClient::feedback_callback, this, _1, _2);
+    send_goal_options.result_callback =
+        std::bind(&RandomizerActionClient::result_callback, this, _1);
+    this->client_ptr_->async_send_goal(goal_msg, send_goal_options);
+  }
+
+ private:
+  rclcpp_action::Client<Randomizer>::SharedPtr client_ptr_;
+  rclcpp::TimerBase::SharedPtr timer_;
+
+  void goal_response_callback(std::shared_future<GoalHandleRandomizer::SharedPtr> future) {
+    auto goal_handle = future.get();
+    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(GoalHandleRandomizer::SharedPtr,
+                         const std::shared_ptr<const Randomizer::Feedback> feedback) {
+    std::stringstream ss;
+    ss << std::setprecision(6);
+    ss << "Next random number: " << feedback->new_random_value
+       << ". \t Done: " << feedback->number_of_random_values_calculated << " values.";
+    RCLCPP_INFO(this->get_logger(), ss.str().c_str());
+  }
+
+  void result_callback(const GoalHandleRandomizer::WrappedResult& result_handle) {
+    switch (result_handle.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;
+    }
+    std::stringstream ss;
+    ss << "Result received: ";
+    for (auto number : result_handle.result->random_values) {
+      ss << number << " ";
+    }
+    RCLCPP_INFO(this->get_logger(), ss.str().c_str());
+    rclcpp::shutdown();
+  }
+};  // class RandomizerActionClient
+
+}  // namespace random_generator
+
+RCLCPP_COMPONENTS_REGISTER_NODE(random_generator::RandomizerActionClient)