ROS actionlib start

src/pubsub/pubsub/pubsub_library_v3.py

@@ -16,19 +16,25 @@
 
 import rclpy
 from rclpy.node import Node
+from rclpy.action import ActionServer
+
+# How to use, please refer to:
+# Topic:
+#           - topic_talker.py
+#           - topic_listener.py
+# Service:
+#           - service_host.py
+#           - service_client.py
+# Action:
+#           - action_server.py
+#           - action_client.py
 
-# How to use:
-# from pubsub_library import MinimalPublisher
-# from pubsub_library import MinimalSubscriber
-# minimal_publisher = MinimalPublisher(NODE_NAME='minimal_pub', TOPIC_NAME='user_controller', MSG_TYPE=Usercontroller, MSG_PERIOD=0.5)
-# minimal_subscriber = MinimalSubscriber(NODE_NAME='minimal_sub', TOPIC_NAME='epos_feedback', MSG_TYPE=Eposreturn)
-# See --> talker.py, listener.py
 
 
 
 # Definition of Parent Classes
 #******************************************************************************#
-# TOPICS
+# TOPIC
 #******************************************************************************#
 
 class MinimalPublisher(Node):
@@ -175,7 +181,6 @@ class MinimalServiceProvider(Node):
         response.success = True # Change this to fit your service type
         return response
 
-
 #******************************************************************************#
 
 class MinimalServiceClientAsync(Node):
@@ -224,3 +229,84 @@ class MinimalServiceClientAsync(Node):
             return self.future.done(), response # response is of type "<service_type_name>.Response()"
         else:
             return self.future.done(), None
+
+
+
+
+#******************************************************************************#
+# ACTIONS
+#******************************************************************************#
+
+class MinimalActionServer(Node):
+    """ Minimal Action Server Class
+    Inputs:
+    * NODE_NAME: string
+    * ACT_NAME: string
+    * ACT_TYPE: action type class
+    * act_callback_input: action callback function
+
+    Return:
+    * 
+    """
+
+    def __init__(self, NODE_NAME, ACT_NAME, ACT_TYPE, act_callback_input=None):
+        self.NODE_NAME = NODE_NAME
+        self.ACT_NAME = ACT_NAME
+        self.ACT_TYPE = ACT_TYPE
+        # Check if user passed callback function
+        if act_callback_input == None:
+            self.execute_callback= self.std_act_callback
+        else:
+            self.execute_callback = act_callback_input
+        
+        # Init above laying class "Node" (super class)
+        super().__init__(self.NODE_NAME)
+        print("\tStarting Action Server:\t%s"%(self.ACT_NAME))
+        self._action_server = ActionServer(self, self.ACT_TYPE, self.ACT_NAME, self.execute_callback)
+    
+
+    # standard action callback
+    def std_act_callback(self, goal_handle):
+        """ Standard Action Callback Method  
+
+        Replace this method by inputting a custom callback method using 'act_callback_input'.  
+        This method MUST return a variable of the type 'action result',  
+        eg. result = ACTION_TYPE.Result()
+        """
+        self.get_logger().info('Executing goal...')
+        #################
+        # Action Method #
+        #     here      #
+        #################
+        result = self.ACT_TYPE.Result()
+        return result
+    
+#******************************************************************************#
+
+class MinimalActionClient(Node):
+    """ Minimal Action Client
+    Inputs:
+    * NODE_NAME: string
+    * ACT_NAME: string
+    * ACT_TYPE: action type class
+    * act_callback_input: action callback function
+
+    Return:
+    * 
+    """
+
+    def __init__(self, NODE_NAME, ACT_NAME, ACT_TYPE, act_callback_input=None):
+        self.NODE_NAME = NODE_NAME
+        self.ACT_NAME = ACT_NAME
+        self.ACT_TYPE = ACT_TYPE
+        
+        # Init above laying class "Node" (super class)
+        super().__init__(self.NODE_NAME)
+        print("\tStarting Action Client for:\t%s"%(self.ACT_NAME))
+        self._action_client = ActionClient(self, self.ACT_TYPE, self.ACT_NAME)
+    
+    def send_goal(self, input):
+        return
+    
+    def abort_goal(self):
+        return