Command-line action server interface?

actionlib

asked 2011-08-08 15:03:34 -0500

Dang
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updated 2011-08-08 21:07:55 -0500

Lorenz

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Hi Rossers,

Is there an easy command-line way to call an action server? Like... rosaction actionserver goal?

Dan

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answered 2011-08-14 08:28:16 -0500

vpradeep
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For a simpler (hackier) solution than rosh, you could actually use

> rostopic pub [action_ns]/goal [action_type]ActionGoal [fill in fields here]

This will send a goal message directly to the action server. The action server has been designed to handle goals from "dumb action clients", such as rostopic pub. You don't even have to bother filling in the header goal_id fields in the message.

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An example please...

shubhamv ( 2019-03-29 04:43:59 -0500 )edit

Type rostopic pub [your_action]/goal and press tab to auto-complete.

fvd ( 2020-09-07 00:23:15 -0500 )edit

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answered 2011-08-09 06:12:29 -0500

eitan
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There's not a true command line interface to send a goal, besides rostopic pub, but there are light-weight GUI tools for both action clients and action servers:

Client: rosrun actionlib axclient.py
Server rosrun actionlib axserver.py

Hopefully, these suit your needs.

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Does not work when connecting on a SSH a machine that has no X server!

VictorLamoine ( 2017-11-24 10:30:51 -0500 )edit

Remember to set $ROS_MASTER_URI and $ROS_IP when using this with an action server running on another computer. Not sure why that is necessary, since I can rostopic pub and rostopic echo without setting ROS_MASTER_URI and ROS_IP...