Question

我正在尝试实现示例回购示例https://github.com/ros2/examples/tree ...（server.py和client.py）中提供的ROS2操作客户端和服务器。一切似乎都正常，但在客户端“ get_result_callback”从未调用过。在服务器端，我正在使用以下函数，该函数不会退出execute回调。

async def execute_callback(self, goal_handle):
"""Executes a goal."""
self.get_logger().info('Executing goal...')

# Append the seeds for the Fibonacci sequence
feedback_msg = Fibonacci.Feedback()
feedback_msg.sequence = [0, 1]

# Start executing the action
for i in range(1, goal_handle.request.order):
    if goal_handle.is_cancel_requested:
        goal_handle.canceled()
        self.get_logger().info('Goal canceled')
        return Fibonacci.Result()

    # Update Fibonacci sequence
    feedback_msg.sequence.append(feedback_msg.sequence[i] + feedback_msg.sequence[i-1])
    self.get_logger().info('Publishing feedback: {0}'.format(feedback_msg.sequence))

    # Publish the feedback
    goal_handle.publish_feedback(feedback_msg)

    # Sleep for demonstration purposes
    time.sleep(1)


print('before success')
goal_handle.succeed()
print('after success')

# Populate result message
result = Fibonacci.Result()
result.sequence = feedback_msg.sequence
self.get_logger().info('Returning result: {0}'.format(result.sequence))`

结果：

 [INFO] [minimal_action_server]: Received goal request 
 [INFO] [minimal_action_server]: Executing goal... 
 [INFO] [minimal_action_server]: Publishing feedback: [0, 1, 1] 
 [INFO] [minimal_action_server]: Publishing feedback: [0, 1, 1, 2] 
 [INFO] [minimal_action_server]: Publishing feedback: [0, 1, 1, 2, 3]
 [INFO] [minimal_action_server]: Publishing feedback: [0, 1, 1, 2, 3, 5]   
 [INFO] [minimal_action_server]: Publishing feedback: [0, 1, 1, 2, 3, 5, 8]   
 [INFO] [minimal_action_server]: Publishing feedback: [0, 1, 1, 2, 3, 5, 8, 13] 
 [INFO] [minimal_action_server]: Publishing feedback: [0, 1, 1, 2, 3, 5, 8, 13, 21] 
 [INFO] [minimal_action_server]: Publishing feedback: [0, 1, 1, 2, 3, 5, 8, 13, 21, 34] 
 [INFO] [minimal_action_server]: Publishing feedback: [0, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55] 
 before success

我没有更改代码中的任何内容**

这里可能是什么问题？

Answer 1

我替换了：

goal_handle.succeed()

使用

goal_handle.set_succeeded()

它按预期工作。

ROS2操作执行回调永远不会退出

1 个答案: