Actionlib for Rosjava

A pure java implementation of actionlib for rosjava. Features implemented:

Latest release: v0.2.0

New in this release:

• Added goal state tracking to the client.
• Added a waitForActionServerToStart method to the client.

Requirements:

• ROS Indigo http://wiki.ros.org/
• Rosjava $ sudo apt-get install ros-indigo-rosjava http://wiki.ros.org/rosjava/Tutorials/indigo/Installation
• Java 1.7 or greater (OpenJDK should work)
• Also make sure you have the following packages: ros-indigo-actionlib ros-indigo-actionlib-tutorials ros-indigo-genjava

You can find a video tutorial showing how to install and test the library following the instructions below: https://youtu.be/FmmsMdEbYFs

Downloading:

1. Download the latest release of the project: https://github.com/ernestmc/rosjava_actionlib/archive/v0.2.0.zip
2. Unzip it somewhere.

Compiling:

1. Open a terminal inside the folder where you unzipped the package.
2. Compile the code using the following command: $ catkin_make

Running a test client:

1. Open a new terminal and get a ros master running: $ roscore
2. In another terminal run the actionlib sample server: $ rosrun actionlib_tutorials fibonacci_server
3. Run our client:

• Source the project environment: $ source devel/setup.bash
• Run the client: $ rosrun rosjava_actionlib execute com.github.ekumen.rosjava_actionlib.TestClient

Output from the test client

The test client will connect to the fibonacci server and send it a goal. It should then receive feedback from the server and a final response. The output should look something like this:

Loading node class: com.github.ekumen.rosjava_actionlib.TestClient

Waiting for action server to start...
Action server started.

Sending goal...
Sent goal with ID: /fibonacci_test_client-1-1453494018.17000000
Waiting for goal to complete...
Feedback from Fibonacci server: 0 1 1
Feedback from Fibonacci server: 0 1 1 2
Feedback from Fibonacci server: 0 1 1 2 3
Got Fibonacci result sequence: 0 1 1 2 3
Goal completed!

Sending a new goal...
Sent goal with ID: /fibonacci_test_client-2-1453494021.25000000
Cancelling this goal...
Feedback from Fibonacci server: 0 1 1
Got Fibonacci result sequence:
Goal cancelled succesfully.

Bye!

Running a test server:

1. Run our server:

• Source the project environment: $ source devel/setup.bash
• Run the server: $ rosrun rosjava_actionlib execute com.github.ekumen.rosjava_actionlib.TestServer

2. If its not already running, open a new terminal and get a ros master running: $ roscore
3. In another terminal run the actionlib sample client: $ rosrun actionlib_tutorials fibonacci_client
4. Once finished, use Ctrl+C to close the server.

Output from the test server

The test server will start running and wait for clients to connect and send goal messages. Once the fibonacci client sends a goal, the server accepts it and sends a result. The output should look something like this:

Goal received.
Goal accepted.
Sending result...

Running demos for the server and the client

You can launch a demo client and a fibonacci action server all at once using:

roslaunch rosjava_actionlib client_demo.launch --screen

You can also launch a demo server and a fibonacci action client all at once using:

roslaunch rosjava_actionlib server_demo.launch --screen

Use Ctrl+C to stop the execution once it's finished.

Running unit tests

$ cd src/rosjava_actionlib/
$ ./gradlew test