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Timer callback function do not working when action server be called? Timer callback function do not working when action

I didn't use PS3 control my machine, but I used xbox joy to control it. Maybe http://wiki.ros.org/joy/Tutorials http://

If you want to get it in detail. Here is. link text

It's not clear from your question what you've tried. I guass rosbag should be used for provide data. Just think it like

It's not clear from your question what you've tried. I think rosbag should be used for provide data. Just think it like

Timer callback function do not working when action server be called?

Hello, I find a interested problem just now. It was action server callback function may cause timer callback function do not work.

The reason why I put action-server & timer in same class is that it will be convenient to communicate between Arduino&Moveit. So timer callback function is used for reading & writing data, and action server callback function is used for getting way points. Here is a part of my code.

#ifndef LEAFROBOT_H
#define LEAFROBOT_H
#include "leaf_driver/ManipulatorProtocol.h"

class LeafRobot : public hardware_interface::RobotHW
{
public:
    LeafRobot(),
        as_(nh_, "leaf_controller/follow_joint_trajectory", 
           boost::bind(&LeafRobot::executeCB, this, _1), 
           false)
    {
       .......
       clock = 0.02;    //0.02s
       timer = nh_.createTimer(ros::Duration(clock), &LeafRobot::timerCallback, this);
       ......
       as_.start();    //action server start
       ......
    };

    virtual ~LeafRobot()
    {
       ......
    };

    bool read()
    {
       //read data and save in readList
       ......
    };

    int write()
    {
       //write data from writeList
       ......
    };

    void timerCallback(const ros::TimerEvent& e)
    {
       //Update readList and write data to Arduino
       cout << "TimerCallback\n";
       write();
       if(read())
       {
           return;
       }
       usleep(1000);
       if(read())
       {
           return;
       }
    };

    void executeCB(actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction> goal_)
    {
       //Action server callback function
        cout << "executeCB\n";
        actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal = *(goal_.getGoal());
        goal_handle_ = goal_;
        addWaypoints(goal.trajectory);
        trackMove();

        goal_handle_.setAccepted();    
        result_.error_code = result_.SUCCESSFUL;
        goal_handle_.setSucceeded(result_);
    };

    void trackMove()
    {
       //Every points will load to writeList(a point). 
       //And If readList(a point) is equal writeList(a point), 
       //the function will load next point to writeList.
       ......
    };
    ......
    ......
private:
    ......
    ......
    ros::NodeHandle nh_;
    ros::Time time_current, time_prev;
    ros::Timer timer;
    double clock;
    actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>  as_;    ![image description](http://)
    control_msgs::FollowJointTrajectoryResult result_; 
    ......
    ......
};
#endif //LEAFROBOT

The main function just have a LeafRobot Object and other simple code.

When it run, terminal just like this.

TimerCallback
TimerCallback
TimerCallback
executeCB
TrackMoving 
Arrive to 0 th point : 
Arrive to 1 th point : 
Ignore 1 th point : 
Arrive to 2 th point : 
Ignore 2 th point : 
Arrive to 3 th point : 
Ignore 3 th point : 
Arrive to 4 th point :

After TrackMoving display , it always display Arrive to X th point : or Ignore X th point : . It means, timerCallback didn't be called when executeCB running. Maybe I need to use timer in C++, or don't use ROS timer and update readList&writeList in main function , through it could not very accurate.

Welcome to take some advise to me.That all, Thanks for your attention.

All right, I don't know what happened. I just replaced actionlib::ActionServer<control_msgs::followjointtrajectoryact

Hey, When I set python3.5 as default, I got a error. So, I corrected it to python2.7, However, roscore gave me a Error like this

~$ roscore

... logging to /home/wuxueming/.ros/log/67c4edca-e9fb-11e8-a50a-7c2a314f2b58/roslaunch-wuxueming-n8xejek-28640.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://wuxueming-n8xejek:37377/
ros_comm version 1.12.14


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES

auto-starting new master
process[master]: started with pid [28650]
ROS_MASTER_URI=http://wuxueming-n8xejek:11311/

setting /run_id to 67c4edca-e9fb-11e8-a50a-7c2a314f2b58
'ascii' codec can't decode byte 0xe6 in position 16: ordinal not in range(128)
The traceback for the exception was written to the log file
[master] killing on exit

'ascii' codec can't decode byte 0xe6 in position 16: ordinal not in range(128)

How to solve the problem? Thanks so much.

Sorry for later. A long time ago, I had saved this problem . It just need to open terminal and input this $ sudo updat

Timer callback function do not working when action server be called? Timer callback function do not working when action

OK,I found the answer. I created a workspace in 文档(file), though I deleted the path in ~/.bashrc. Then I delete the use

OK,I found the answer. I created a workspace in 文档(file), though I deleted the path in ~/.bashrc. Then I delete the use

roscore on python2.7 'ascii' codec can't decode byte 0xe6 in position 16 Hey, When I set python3.5 as default, I got

Thanks.And I will update with the full errror message.

roscore on python2.7 'ascii' codec can't decode byte 0xe6 in position 16 Hey, When I set python3.5 as default, I got