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Command-line action server interface?

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

Dang gravatar image

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

Lorenz gravatar image

Hi Rossers,

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


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

vpradeep gravatar image

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

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

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

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

eitan gravatar image

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
  • Server rosrun actionlib

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 gravatar image 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...

Rufus gravatar image Rufus  ( 2021-02-16 23:45:17 -0500 )edit

answered 2011-08-09 16:38:34 -0500

kwc gravatar image

You can use rosh as an interactive command line for calling actions. It supports tab-completion and uses Python syntax.

You will need to load the 'rosh_common' plugin to support actions



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I cannot find any rosh package, where is it?

VictorLamoine gravatar image VictorLamoine  ( 2017-11-24 10:32:23 -0500 )edit

Looks like it's been deprecated since Kinetic

troniak gravatar image troniak  ( 2018-06-22 10:20:43 -0500 )edit

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

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Last updated: Aug 14 '11