After reading actionlib tutorial I got some questions

asked 2014-04-22 22:07:50 -0600

Yantian_Zha gravatar image

Hi guys, there are some doubts in actionlib tutorial:

1.The difference between FibonacciActionGoal.msg and FibonacciGoal.msg?

2.It seems that in main function there is not always to define a server(explained in "http://wiki.ros.org/actionlib"), which is connected to client? In http://wiki.ros.org/actionlib_tutoria... , FibonacciAction fibonacci(ros::this_node::getName()) might play the similar role(but I actually don't know how).

3.In http://wiki.ros.org/actionlib_tutoria... , it set no registerGoalCallback() function, which used in "http://wiki.ros.org/actionlib_tutorials/Tutorials/SimpleActionServer%28GoalCallbackMethod%29#actionlib_tutorials.2BAC8-Tutorials.2BAC8-SimpleActionServer.28GoalCallbackMethod.29.2BAC8-groovy.CA-2c85a2f9232692a6d24ef0e3da19e7447fff3acd_60", but where is the difference of the two method? And I found no acceptNewGoal function, so how the server accept the first goal sent by client?(the client side has a function sendGoal() as a match to it).

Thanks so much!

edit retag flag offensive close merge delete