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How to Reject an Action Goal

when the goal_callback function in the Action Server returns GoalResponse.REJECT, instead of GoalResponse.ACCEPT, the Action Client hangs. How I can make client also gives rejection response to me?
Jarvis pjotrlake07 Elliot's user avatar
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50 views

Async send goal get blocks even after action server calls succeed

I have the problem that I am calling an action server with gh = client->async_send_goal(goal, options).get(). In the logs I can see that the server finished the ...
lef98's user avatar
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1 answer
101 views

KeyError:'unique_identifier_msgs' and KeyError:'service_msgs' when compiling interface package

I am pretty new to ROS, so please do not expect much from me. I am building a robotic system for my project, and as of right now I am setting up interfaces to use in the project. I added a message ...
highjeans 's user avatar
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27 views

How to use Zero Copy / Loan API when using ROS 2 services

I can see many examples of using the Loan API in a pub/sub manner but can't see how to use it in the context of ROS 2 services (and maybe actions but that could possibly be incompatible)
user19211's user avatar
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4 views

is there a gazebo or ros2 service/action to call SetActive from sensor?

context: I have a simulation with a drone that have a camera. It is always "on" and i'd like to turn it "on" on demand only (from command line in a first step, then from a ros2 ...
SebL's user avatar
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0 answers
116 views

ROS2: RQT can not get message class for a user defined message

I can build a package used to define interfaces like messages, service and actions. I think everything is fine since I can show them using the usual command ...
Antonio Bono's user avatar
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1 answer
2k views

Actions in Humble: Cancel action in action client

for learning purposes I'm trying to play around with the tutorial (rclpy) for writing an action server + client. So, my action server is providing me with a fibonacci sequence up to n items and ...
robin_rob96's user avatar
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0 answers
19 views

Pb with ActionServer and/or ActionClient in python

I've got an ActionServer that works when called from the command line, but when I use my own ActionClient, the send_goal command never ends waiting. Can someone tell me what's wrong ? my ActionClient <...
SebL's user avatar
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60 views

How to correctly define an action and some python code in a ROS2 package?

my question is really close to this one but with python code. I have a package with an action and some python classes. Those classes use the action and are used in another package. my package.xml ...
SebL's user avatar
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1 vote
1 answer
85 views

Handling long actions in rclpy (with cancellation)

The Fibonacci action demo is nice, but it doesn't support cancellation. I added a custom cancel_callback, called it from ...
Clyde McQueen's user avatar
1 vote
1 answer
103 views

Is it possible to subscribe to an action feedback?

Hi, I was considering to is it possible to subscribe to a action feedback from another node. I tried it to subscribe a moveit2 action feedback ( /scaled_joint_trajectory_controller/...
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1 answer
292 views

Cannot cancel ROS2 action goal immediately after sending

I have some toy code to test ROS2 action cancelation. I'm trying to send an action goal, then cancel it immediately. With print statements, I can verify that the action goal is received, but the ...
AndyZe's user avatar
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1 answer
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Does axclient.py exist for ROS2?

The axclient.py documented here is quite a handy tool for quick debugging and testing. Does its equivalent exist for ROS2? Originally posted by Rufus on ROS ...
Rufus's user avatar
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1 answer
148 views

How to cancel ros2 action with ros2 cpp action client

Pleas provide ros2 cpp example client to cancel actions Originally posted by anadgopi1994 on ROS Answers with karma: 81 on 2022-03-09 Post score: 1
user avatar
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1 answer
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Example of ROS2 C++ blocking action request

I'm looking for a C++ example of a blocking action request. Basically I seek the C++ version of this Python answer: https://answers.ros.org/question/377269/a-less-asyncronous-way-of-using-ros2-action-...
AndyZe's user avatar
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1 answer
131 views

ROS2 one action client calling multiple servers

I would like to call multiple action servers with a single client, however, with the current rclcpp implementation server name is only passed in the constructor, so ...
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1 answer
3 views

Custom action message can't be found during compilation

So I created a custom action message, under the laser_line_extraction/action folder: CornerExtractionAction.action: ...
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2 answers
229 views

A less-asyncronous way of using ROS2 action clients?

Hello, I am a little while into developing my first ROS2 project as someone totally new to ROS. My last couple of posts may provide some useful context of how I arrived at this issue but essentially ...
user avatar
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1 answer
30 views

How to use move_base Action API with a navigation goals subscriber

I try to get the navigation goal points from a subscriber that identifies them through lidar. In particular I use the lidar to get the corners of a wall and my aim is to navigate close to the corner. ...
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1 answer
73 views

What does "ACCEPTED" and "CANCELING" states do in the ros2 action state machine?

http://design.ros2.org/img/actions/goal_state_machine.png From the figure above, when exactly does the used-defined functions (handle_goal, ...
user avatar
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1 answer
15 views

action server, service server, or publisher/subscriber. Which one should I use?

Hi, I have a question, before question I will explain my case.In my case, there are 2 sides which one of them is simulation and other one is calculator, I need to execute this scenario: Simulation ...
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2 answers
9 views

Can you use constants in action files?

I am trying to define a constant in an action file, but for some reason its not working. Is this even possible? Here is what my action file looks like: ...
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1 answer
12 views

Difficulty getting hector quadrotor actions to work

Hello, I've been working with the hector_quadrotor package on ROS Melodic with Ubuntu 18.04 and I wanted to write a node that would move multiple drones from point to point simultaneously. I saw that ...
user avatar
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1 answer
16 views

Action Header Returns "no such file or directory" When I Include It In cpp

I'm trying to get a c++ action client example running. When I include the actions header, the console returns "no such file or directory". I'm guessing I did something wrong with the ...
user avatar
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2 answers
28 views

Joint Order in MoveIt Trajectory

I'm currently using ROS Kinetic on Ubuntu 16.04, and trying to understand how to change the order that MoveIt publishes joints to a custom robot driver ROS node (that I created). My controllers.yaml ...
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1 answer
4 views

Problem with Action msg

Hello, I wrote my own Action msg for ROS. This is the msg : #goal string start_phrase --- #result point coordinates --- #feedback duration time_elapsed This is my ...
user avatar
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1 answer
178 views

ROS2 Build Action Tutorial "Colcon build Failed"

I'm currently following ROS2 Build Action tutorial: link text, and I'm stuck with the colcon build, the tutorial asks to add some lines to my CMakeLists and package files before building the package (...
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1 answer
26 views

Timer callback function do not working when action server be called?

##Timer callback function do not working when action server be called?## Hello, I find a interested problem just now. It was action server callback function may ...
user avatar
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1 answer
9 views

[ROS2][bag]not record rotation data

I am following the tutorial for using ros2 bag I used command ros2 bag record -o test /turtle1/cmd_vel /turtle1/pose to record the data. I draw a cycle by pressing ...
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0 votes
1 answer
52 views

How to move a ur3 robot arm by using actions?

Dear community, I'm absolutely new to ROS, so please excuse my technically perhaps not always quite correct expressions. I'm running ROS Kinetic on Ubuntu 16.04 LTS and cloned the "universal ...
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3 answers
47 views

Could NOT find FastRTPS (missing: FastRTPS_INCLUDE_DIR FastRTPS_LIBRARIES)

I'm attempt to build a package with a custom action, but it fails with an error Could NOT find FastRTPS (missing: FastRTPS_INCLUDE_DIR FastRTPS_LIBRARIES). Please ...
user avatar
0 votes
1 answer
19 views

action client stuck waiting on server

I've been trying to write an action file (cpp) using the Fibonacci example as a guide but so far it's just getting stuck on starting the server and i can't quite see why. ...
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1 answer
65 views

rqt_graph not showing all active nodes

I've been following through the simple examples for actions and I'm not sure how to change the setting to get rqt_graph to show nodes a level "deeper". The action is questions is an exact ...
user avatar
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1 answer
8 views

ros_control combination with actionlib

Hi there, This is probably a noob question, but after spending some hours trying to figure this out and asking google, I decided to ask it nonetheless. I am building an interface to a robot that does ...
user avatar
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2 answers
3 views

Using a action's result - Pt. 2

Hello together, I already had a problem using the result of an action. After implementing the solution of @mgruhler, another problem occurred. This time I have another problem: The ...
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1 answer
19 views

Using a action's result

Hello together, together with another student, we have written a action client and server by using actionlib/client/simple_action_client.h and ...
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0 votes
1 answer
10 views

Python action client does not connect properly

I had a problem with an action client not connecting to the server. I stuck as close to the tutorial as possible. I tested that the server works by using ...
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0 votes
1 answer
7 views

Why do we need to add generators for messages, services and actions, but only generate messages (in the CMakeLists.txt file)?

In the following article http://wiki.ros.org/catkin/CMakeLists.txt#Overall_Structure_and_Ordering, it is stated that, for a package to be correctly built, we must follow a certain format for the ...
user avatar
0 votes
2 answers
29 views

Understanding actions

I've been using ROS services to ask a node to perform a long running (a few seconds) task and I want to switch to using ROS actions as recommended on http://wiki.ros.org/actionlib. The task is a call ...
user avatar
0 votes
1 answer
5 views

can call back based simple action client subscribe to other topics?

Is it possible for a call back based simple action client to subscribe to other topics? I want the client to subscribe to /topicA that publishes sensor_msg::JointState and pass the name, velocity, ...
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1 answer
3 views

How to make custom action?

Console output from compilation: ...
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0 votes
1 answer
15 views

You are attempting to call methods on an uninitialized goal handle

Hi, I've written a simple action server & client. However I am getting this error message from the server when calling the goal: ...
MarkyMark's user avatar
  • 526
0 votes
1 answer
11 views

A string goal with actionlib

I'm just starting out with ROS actions. The example uses the goal type uint32, but I wanted to use a std_msgs::String. This is ...
AndyZe's user avatar
  • 873
0 votes
1 answer
17 views

undefined reference to actionlib::GoalIDGenerator::GoalIDGenerator()

I tried adapting the Actionlib Client-Tutorial to a action I already used in some python scripts but as soon as I insert ...
user avatar
0 votes
1 answer
14 views

which node is motion planner in moveit?

BACKGROUND This passage from book MASTER ROS FOR ROBOTICS PROGRAMMING, which explains how motion planner works in moveit raises my question: MoveIt! can talk to the motion planners through the plugin ...
user avatar
0 votes
1 answer
16 views

Reasoning for using Pub/Sub vs Service

I'm struggling to determine when I should use the various communication methods ROS offers, like the publish/subscriber model, service, or action. I figure, sensors should be publishers, short running ...
user avatar
0 votes
1 answer
8 views

action server vs publisher + service

When would you use a Publisher + Service Node vs an Action Node? As far as I can tell they seem equivalent, besides the fact that anything can subscribe to the publisher, while only the client gets ...
user avatar
0 votes
2 answers
14 views

what's the differences between action and services?

Now,I have learnt action 's related tutorials including creation of client and server,Also learnt services including serviceClient and serviceServer,now I want to know their differences,It seems that ...
user avatar
0 votes
1 answer
4 views

Multiple SimpleActionServer member variables

I am building a AI module for a robot. The module will provide two actions, so I've been learning about actionlib through the tutorials. I implemented the first tutorial and got it working nicely in ...
user avatar
0 votes
1 answer
24 views

Error with gripper action server client connection

I am trying to control the gripper of a 6 DOF arm(dynamixel based). The gripper is a 2 finger gripper controlled by a single dynamixel servo. I have generated the moveit config file using moveit setup ...
user avatar