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rosruby_common repository

Repository Summary

Checkout URI https://github.com/OTL/rosruby_common.git
VCS Type git
VCS Version hydro-devel
Last Updated 2013-10-21
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
rosruby_actionlib 0.1.3
rosruby_common 0.1.3
rosruby_tutorials 0.1.3

README

rosruby_common

rosruby common libraries (tf/actionlib/tutorial). rosruby_tutorials contains samples of rosruby.

actionlib

actionlib provides a standardized interface for interfacing with preemptible tasks.

simple action server

#!/usr/bin/env ruby

require 'ros'
ROS::load_manifest("rosruby_actionlib")
require 'actionlib/simple_action_server'
require 'actionlib_tutorials/FibonacciAction'

node = ROS::Node.new('/test_simple_action_server')
server = Actionlib::SimpleActionServer.new(node,
                                           '/fibonacci',
                                           Actionlib_tutorials::FibonacciAction)
server.start do |goal|
  feedback = Actionlib_tutorials::FibonacciFeedback.new
  feedback.sequence = [0, 1]
  r = ROS::Rate.new(1.0)
  for i in 1..goal.order
    feedback.sequence.push(feedback.sequence[i] + feedback.sequence[i-1])
    server.publish_feedback(feedback)
    node.loginfo("feedback = [#{feedback.sequence.join(",")}]")
    r.sleep
  end
  result = Actionlib_tutorials::FibonacciResult.new
  result.sequence = feedback.sequence
  server.set_succeeded(result)
end

node.spin

simple action client

#!/usr/bin/env ruby

require 'ros'
ROS::load_manifest("rosruby_actionlib")
require 'actionlib/simple_action_client'
require 'actionlib_tutorials/FibonacciAction'

node = ROS::Node.new('/test_simple_action_client')
client = Actionlib::SimpleActionClient.new(node,
                                           '/fibonacci',
                                           Actionlib_tutorials::FibonacciAction)
client.wait_for_server(1.0)

goal = Actionlib_tutorials::FibonacciGoal.new
goal.order = 5
client.send_goal(goal,
                 :feedback_callback => proc {|feedback|
                   node.loginfo("feedback = [#{feedback.sequence.join(",")}]")
                 })

result = client.wait_for_result(10.0)
node.loginfo("result = #{result.sequence.join(",")}")

CONTRIBUTING

No CONTRIBUTING.md found.