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common_tutorials: actionlib_tutorials | pluginlib_tutorials | turtle_actionlib

Package Summary

turtle_actionlib demonstrates how to write an action server and client with the turtlesim. The shape_server provides and action interface for drawing regular polygons with the turtlesim.

common_tutorials: actionlib_tutorials | pluginlib_tutorials | turtle_actionlib

Package Summary

turtle_actionlib demonstrates how to write an action server and client with the turtlesim. The shape_server provides and action interface for drawing regular polygons with the turtlesim.

common_tutorials: actionlib_tutorials | nodelet_tutorial_math | pluginlib_tutorials | turtle_actionlib

Package Summary

turtle_actionlib demonstrates how to write an action server and client with the turtlesim. The shape_server provides and action interface for drawing regular polygons with the turtlesim.

common_tutorials: actionlib_tutorials | nodelet_tutorial_math | pluginlib_tutorials | turtle_actionlib

Package Summary

turtle_actionlib demonstrates how to write an action server and client with the turtlesim. The shape_server provides and action interface for drawing regular polygons with the turtlesim.

common_tutorials: actionlib_tutorials | nodelet_tutorial_math | pluginlib_tutorials | turtle_actionlib

Package Summary

turtle_actionlib demonstrates how to write an action server and client with the turtlesim. The shape_server provides and action interface for drawing regular polygons with the turtlesim.

common_tutorials: actionlib_tutorials | nodelet_tutorial_math | pluginlib_tutorials | turtle_actionlib

Package Summary

turtle_actionlib demonstrates how to write an action server and client with the turtlesim. The shape_server provides and action interface for drawing regular polygons with the turtlesim.

common_tutorials: actionlib_tutorials | nodelet_tutorial_math | pluginlib_tutorials | turtle_actionlib

Package Summary

turtle_actionlib demonstrates how to write an action server and client with the turtlesim. The shape_server provides and action interface for drawing regular polygons with the turtlesim.

common_tutorials: actionlib_tutorials | nodelet_tutorial_math | pluginlib_tutorials | turtle_actionlib

Package Summary

turtle_actionlib demonstrates how to write an action server and client with the turtlesim. The shape_server provides and action interface for drawing regular polygons with the turtlesim.

common_tutorials: actionlib_tutorials | nodelet_tutorial_math | pluginlib_tutorials | turtle_actionlib

Package Summary

turtle_actionlib demonstrates how to write an action server and client with the turtlesim. The shape_server provides and action interface for drawing regular polygons with the turtlesim.

common_tutorials: actionlib_tutorials | nodelet_tutorial_math | pluginlib_tutorials | turtle_actionlib

Package Summary

turtle_actionlib demonstrates how to write an action server and client with the turtlesim. The shape_server provides and action interface for drawing regular polygons with the turtlesim.

Overview

This tutorial package provides a shape_server and example shape_client for drawing regular polygons with the turtlesim_node. The default client will draw a pentagon in turtlesim.

The Shape.action is defined below:

  • #goal definition
    int32 edges
    float32 radius
    ---
    #result definition
    float32 interior_angle
    float32 apothem
    ---
    #feedback

Running the Tutorial Code

To run the default example, start by getting the required dependencies and making the package.

$ rosdep install turtle_actionlib
$ rosmake turtle_actionlib 

Then in separate terminals rosrun the following nodes:

$ rosrun turtlesim turtlesim_node
$ rosrun turtle_actionlib shape_server
$ rosrun turtle_actionlib shape_client

You will see:

  • turtle_shape.png