Are action servers working?

[ppianpak]

I saw there are implementations of landing_action, pose_action, and takeoff_action in hector_quadrotor/hector_quadrotor_actions. I tried to use it by mimicking the code in hector_quadrotor_teleop/quadrotor_teleop.cpp but there is no reaction on Gazebo at all. I just want to ask whether the the action server implementations work for you guys?

Detail here: In terminal 1 I run: roslaunch hector_quadrotor_gazebo quadrotor_empty_world.launch In terminal 2 I run a piece of code:

ros::ServiceClient serviceClient = nh.serviceClient<hector_uav_msgs::EnableMotors>("enable_motors");
hector_uav_msgs::EnableMotors enable_motors_srv;
enable_motors_srv.request.enable = true;
serviceClient.call(enable_motors_srv);
ROS_INFO("%s - %s", nh.resolveName("enable_motors").c_str(), enable_motors_srv.response.success ? "successful" : "failed");

typedef actionlib::SimpleActionClient<hector_uav_msgs::TakeoffAction> TekeoffClient;
TekeoffClient takeoff_client_("action/takeoff");
ROS_INFO("Waiting for action server action/takeoff to start");
takeoff_client_.waitForServer();
ROS_INFO("Action server action/takeoff: %s", takeoff_client_.isServerConnected()? "Connected" : "NOT Connected");

takeoff_client_.sendGoal(hector_uav_msgs::TakeoffGoal());
ROS_INFO("Takeoff goal sent!");
takeoff_client_.waitForResult(ros::Duration(5));
std::cout << "State: " << takeoff_client_.getState().toString() << std::endl;

output:

I also set takeoff_height in hector_quadrotor/hector_quadrotor_actions/takeoff_action.cpp to 10.0 (originally set to 0.3) to make sure I see it clearly, but there is no movement of the drone in Gazebo at all.

[rishabhgks]

Any update on this? It doesn't seem to be working for me either.

[rishabhgks]

Got it to work using the code below:

actionlib::SimpleActionClient<hector_uav_msgs::PoseAction> pose_("action/pose", true);

hector_uav_msgs::PoseActionFeedback pose_feedback;
ROS_INFO("Waiting for action server to start.");
// wait for the action server to start
pose_.waitForServer();
ROS_INFO("Action server started, sending goal.");
// send a goal to the action
hector_uav_msgs::PoseGoal pose_goal;
ROS_INFO("Current pose %f", pose_feedback.feedback.current_pose.pose.position.z);
pose_goal.target_pose = pose_feedback.feedback.current_pose;
pose_goal.target_pose.pose.position.z = 3.0;
pose_goal.target_pose.header.frame_id = "world";
pose_.sendGoal(pose_goal, &doneCb, &activeCb, &feedbackCb);
pose_.waitForResult(ros::Duration(30.0));

if (pose_.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
{
    actionlib::SimpleClientGoalState state = pose_.getState();
    ROS_INFO("Action finished: %s",state.toString().c_str());
}
else
    ROS_INFO("Action did not finish before the time out."); 
return 0;

[Makekihe]

@rishabhgks I just want to make sure that I understand this correctly. The code that you present is using the action server for sending goals to a ROS Navigation Stack launched somewhere else? This code does NOT give 3D go-to-goal navigation functionality of the hector drone?