ROS笔记六（基于Python、Kinetic）：自定义动作类型

前言：

同消息、服务类似，动作的定义包含三个部分：目标、结果、反馈。并且在编译过程中，会被打包为一个消息类型。

1.创建动作类型的源文件：

在my_code包下创建action目录，用于存放动作源文件。下面定义一个满足定时器需求的动作Timer.action:

# This is an action definition file, which has three parts: the goal, the
# result, and the feedback.
#
# Part 1: the goal, to be sent by the client
#
# The amount of time we want to wait
duration time_to_wait
---
# Part 2: the result, to be sent by the server upon completion
#
# How much time we waited
duration time_elapsed
# How many updates we provided along the way
uint32 updates_sent
---
# Part 3: the feedback, to be sent periodically by the server during
# execution.
#
# The amount of time that has elapsed from the start
duration time_elapsed
# The amount of time remaining until we're done
duration time_remaining

2.告知构建系统有新动作的定义：

<build_depend>actionlib</build_depend>
<build_depend>actionlib_msgs</build_depend>
<build_export_depend>actionlib</build_export_depend>
<build_export_depend>actionlib_msgs</build_export_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>actionlib_msgs</exec_depend>

3.修改CMakeLists.txt文件参数：

修改find_packag（）函数：

 catkin_package()添加编译运行依赖：

 add_action_files()添加自定义服务源文件文件名： 

最后，generate_message()添加自定义服务所依赖的消息类型：

 4.编译 ：

进入工作空间：

cd ~/catkin_ws

开始编译：

catkin_make