Useful actions server3/24/2023 Just a side remark: if you have separate functionalities which you would ordinarily implement as separate ROS nodes, but which have to run in the same process for technical reasons, you could consider implementing them as nodelets. You could have multiple goals executing in parallel, queue goals, and generally do whatever you want. If you want to have a more sophisticated handling of goals, you are free to do so using the actionlib API directly (without the SimpleActionServer).This behaviour is a simplification of the actionlib API which catches most use cases. Each SimpleActionServer is limited to one goal whenever there is a new incoming goal, the currently pending goal is cancelled.It is perfectly possible to have one ROS node with multiple action servers just pass them different topic names on creation. Hello, After playing a bit around with action-server and simple-action-server, I came up with the below simple solution (it is far from being complete of course), in case someone else might find it useful or as a start point.
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