ros actionlib
时间: 2023-12-18 17:07:20 浏览: 27
ROS actionlib is a library that provides a way to define and execute long-running, asynchronous tasks in a modular way. It is used to manage and monitor the progress of tasks that have multiple stages or that require feedback during execution. The library provides a flexible and efficient communication protocol that allows nodes to interact with each other in a structured and reliable way.
Actionlib is commonly used in robotics applications to control complex behaviors such as navigation, manipulation, or perception. It allows developers to define and execute complex actions as a series of smaller, self-contained tasks. These tasks can be executed in parallel, and the overall progress of the action can be tracked and monitored.
Actionlib consists of two main components: the action server and the action client. The action server is responsible for executing the action, while the action client sends requests to the server and monitors the progress of the action.
The action server receives requests from the action client and executes the requested action. During execution, the server provides feedback to the client, keeping it informed of the progress of the action. Once the action is complete, the server sends a result message back to the client.
The action client sends requests to the server and monitors the progress of the action. It can also cancel the action if necessary. The client receives feedback from the server, allowing it to provide real-time feedback to the user or to adjust its behavior based on the progress of the action.
Overall, ROS actionlib provides a powerful and flexible framework for managing and executing complex, asynchronous tasks in ROS-based robotics applications.