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Switch the name of the custom action interface package. (#3561)
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* Switch the name of the custom action interface package.

This is so we don't collide with an existing package name
in the examples.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
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clalancette authored May 11, 2023
1 parent 8d3501f commit d0271c1
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77 changes: 49 additions & 28 deletions source/Tutorials/Intermediate/Creating-an-Action.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -31,40 +31,44 @@ Prerequisites

You should have :doc:`ROS 2 <../../Installation>` and `colcon <https://colcon.readthedocs.org>`__ installed.

Set up a :doc:`workspace <../Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace>` and create a package named ``action_tutorials_interfaces``:
You should know how to set up a :doc:`workspace <../Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace>` and create packages.

(Remember to :doc:`source your ROS 2 installation <../Beginner-CLI-Tools/Configuring-ROS2-Environment>` first.)
Remember to :doc:`source your ROS 2 installation <../Beginner-CLI-Tools/Configuring-ROS2-Environment>` first.

Tasks
-----

1 Creating an interface package
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. tabs::

.. group-tab:: Linux

.. code-block:: bash
mkdir -p ros2_ws/src #you can reuse existing workspace with this naming convention
cd ros2_ws/src
ros2 pkg create action_tutorials_interfaces
mkdir -p ~/ros2_ws/src # you can reuse an existing workspace with this naming convention
cd ~/ros2_ws/src
ros2 pkg create --license Apache-2.0 custom_action_interfaces
.. group-tab:: macOS

.. code-block:: bash
mkdir -p ros2_ws/src
cd ros2_ws/src
ros2 pkg create action_tutorials_interfaces
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
ros2 pkg create --license Apache-2.0 custom_action_interfaces
.. group-tab:: Windows

.. code-block:: bash
md ros2_ws\src
cd ros2_ws\src
ros2 pkg create action_tutorials_interfaces
md \ros2_ws\src
cd \ros2_ws\src
ros2 pkg create --license Apache-2.0 custom_action_interfaces
Tasks
-----
1 Defining an action
2 Defining an action
^^^^^^^^^^^^^^^^^^^^

Actions are defined in ``.action`` files of the form:
Expand All @@ -87,29 +91,29 @@ An instance of an action is typically referred to as a *goal*.

Say we want to define a new action "Fibonacci" for computing the `Fibonacci sequence <https://en.wikipedia.org/wiki/Fibonacci_number>`__.

Create an ``action`` directory in our ROS 2 package ``action_tutorials_interfaces``:
Create an ``action`` directory in our ROS 2 package ``custom_action_interfaces``:

.. tabs::

.. group-tab:: Linux

.. code-block:: bash
cd action_tutorials_interfaces
cd custom_action_interfaces
mkdir action
.. group-tab:: macOS

.. code-block:: bash
cd action_tutorials_interfaces
cd custom_action_interfaces
mkdir action
.. group-tab:: Windows

.. code-block:: bash
cd action_tutorials_interfaces
cd custom_action_interfaces
md action
Within the ``action`` directory, create a file called ``Fibonacci.action`` with the following contents:
Expand All @@ -124,12 +128,12 @@ Within the ``action`` directory, create a file called ``Fibonacci.action`` with
The goal request is the ``order`` of the Fibonacci sequence we want to compute, the result is the final ``sequence``, and the feedback is the ``partial_sequence`` computed so far.

2 Building an action
3 Building an action
^^^^^^^^^^^^^^^^^^^^

Before we can use the new Fibonacci action type in our code, we must pass the definition to the rosidl code generation pipeline.

This is accomplished by adding the following lines to our ``CMakeLists.txt`` before the ``ament_package()`` line, in the ``action_tutorials_interfaces``:
This is accomplished by adding the following lines to our ``CMakeLists.txt`` before the ``ament_package()`` line, in the ``custom_action_interfaces``:

.. code-block:: cmake
Expand Down Expand Up @@ -159,19 +163,36 @@ We should now be able to build the package containing the ``Fibonacci`` action d
We're done!

By convention, action types will be prefixed by their package name and the word ``action``.
So when we want to refer to our new action, it will have the full name ``action_tutorials_interfaces/action/Fibonacci``.
So when we want to refer to our new action, it will have the full name ``custom_action_interfaces/action/Fibonacci``.

We can check that our action built successfully with the command line tool:
We can check that our action built successfully with the command line tool.
First source our workspace:

.. tabs::

.. code-block:: bash
.. group-tab:: Linux

.. code-block:: bash
source install/local_setup.bash
# Source our workspace
# On Windows: call install/setup.bat
. install/setup.bash
# Check that our action definition exists
ros2 interface show action_tutorials_interfaces/action/Fibonacci
.. group-tab:: macOS

.. code-block:: bash
source install/local_setup.bash
.. group-tab:: Windows

.. code-block:: bash
call install\local_setup.bat
Now check that our action definition exists:

.. code-block:: bash
ros2 interface show custom_action_interfaces/action/Fibonacci
You should see the Fibonacci action definition printed to the screen.

Expand Down
86 changes: 43 additions & 43 deletions source/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.rst
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Expand Up @@ -27,19 +27,19 @@ Actions are a form of asynchronous communication in ROS.
Prerequisites
-------------

You will need the ``action_tutorials_interfaces`` package and the ``Fibonacci.action``
You will need the ``custom_action_interfaces`` package and the ``Fibonacci.action``
interface defined in the previous tutorial, :doc:`../Creating-an-Action`.

Tasks
-----

1 Creating the action_tutorials_cpp package
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1 Creating the custom_action_cpp package
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

As we saw in the :doc:`../../Beginner-Client-Libraries/Creating-Your-First-ROS2-Package` tutorial, we need to create a new package to hold our C++ and supporting code.

1.1 Creating the action_tutorials_cpp package
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
1.1 Creating the custom_action_cpp package
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Go into the action workspace you created in the :doc:`previous tutorial <../Creating-an-Action>` (remember to source the workspace), and create a new package for the C++ action server:

Expand All @@ -51,34 +51,34 @@ Go into the action workspace you created in the :doc:`previous tutorial <../Crea
.. code-block:: bash
cd ~/ros2_ws/src
ros2 pkg create --dependencies action_tutorials_interfaces rclcpp rclcpp_action rclcpp_components -- action_tutorials_cpp
ros2 pkg create --dependencies custom_action_interfaces rclcpp rclcpp_action rclcpp_components --license Apache-2.0 -- custom_action_cpp
.. group-tab:: macOS

.. code-block:: bash
cd ~/ros2_ws/src
ros2 pkg create --dependencies action_tutorials_interfaces rclcpp rclcpp_action rclcpp_components -- action_tutorials_cpp
ros2 pkg create --dependencies custom_action_interfaces rclcpp rclcpp_action rclcpp_components --license Apache-2.0 -- custom_action_cpp
.. group-tab:: Windows

.. code-block:: bash
cd \dev\ros2_ws\src
ros2 pkg create --dependencies action_tutorials_interfaces rclcpp rclcpp_action rclcpp_components -- action_tutorials_cpp
cd \ros2_ws\src
ros2 pkg create --dependencies custom_action_interfaces rclcpp rclcpp_action rclcpp_components --license Apache-2.0 -- custom_action_cpp
1.2 Adding in visibility control
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

In order to make the package compile and work on Windows, we need to add in some "visibility control".
For more details, see :ref:`Windows Symbol Visibility in the Windows Tips and Tricks document <Windows_Symbol_Visibility>`.

Open up ``action_tutorials_cpp/include/action_tutorials_cpp/visibility_control.h``, and put the following code in:
Open up ``custom_action_cpp/include/custom_action_cpp/visibility_control.h``, and put the following code in:

.. code-block:: c++

#ifndef ACTION_TUTORIALS_CPP__VISIBILITY_CONTROL_H_
#define ACTION_TUTORIALS_CPP__VISIBILITY_CONTROL_H_
#ifndef CUSTOM_ACTION_CPP__VISIBILITY_CONTROL_H_
#define CUSTOM_ACTION_CPP__VISIBILITY_CONTROL_H_

#ifdef __cplusplus
extern "C"
Expand All @@ -90,37 +90,37 @@ Open up ``action_tutorials_cpp/include/action_tutorials_cpp/visibility_control.h

#if defined _WIN32 || defined __CYGWIN__
#ifdef __GNUC__
#define ACTION_TUTORIALS_CPP_EXPORT __attribute__ ((dllexport))
#define ACTION_TUTORIALS_CPP_IMPORT __attribute__ ((dllimport))
#define CUSTOM_ACTION_CPP_EXPORT __attribute__ ((dllexport))
#define CUSTOM_ACTION_CPP_IMPORT __attribute__ ((dllimport))
#else
#define ACTION_TUTORIALS_CPP_EXPORT __declspec(dllexport)
#define ACTION_TUTORIALS_CPP_IMPORT __declspec(dllimport)
#define CUSTOM_ACTION_CPP_EXPORT __declspec(dllexport)
#define CUSTOM_ACTION_CPP_IMPORT __declspec(dllimport)
#endif
#ifdef ACTION_TUTORIALS_CPP_BUILDING_DLL
#define ACTION_TUTORIALS_CPP_PUBLIC ACTION_TUTORIALS_CPP_EXPORT
#ifdef CUSTOM_ACTION_CPP_BUILDING_DLL
#define CUSTOM_ACTION_CPP_PUBLIC CUSTOM_ACTION_CPP_EXPORT
#else
#define ACTION_TUTORIALS_CPP_PUBLIC ACTION_TUTORIALS_CPP_IMPORT
#define CUSTOM_ACTION_CPP_PUBLIC CUSTOM_ACTION_CPP_IMPORT
#endif
#define ACTION_TUTORIALS_CPP_PUBLIC_TYPE ACTION_TUTORIALS_CPP_PUBLIC
#define ACTION_TUTORIALS_CPP_LOCAL
#define CUSTOM_ACTION_CPP_PUBLIC_TYPE CUSTOM_ACTION_CPP_PUBLIC
#define CUSTOM_ACTION_CPP_LOCAL
#else
#define ACTION_TUTORIALS_CPP_EXPORT __attribute__ ((visibility("default")))
#define ACTION_TUTORIALS_CPP_IMPORT
#define CUSTOM_ACTION_CPP_EXPORT __attribute__ ((visibility("default")))
#define CUSTOM_ACTION_CPP_IMPORT
#if __GNUC__ >= 4
#define ACTION_TUTORIALS_CPP_PUBLIC __attribute__ ((visibility("default")))
#define ACTION_TUTORIALS_CPP_LOCAL __attribute__ ((visibility("hidden")))
#define CUSTOM_ACTION_CPP_PUBLIC __attribute__ ((visibility("default")))
#define CUSTOM_ACTION_CPP_LOCAL __attribute__ ((visibility("hidden")))
#else
#define ACTION_TUTORIALS_CPP_PUBLIC
#define ACTION_TUTORIALS_CPP_LOCAL
#define CUSTOM_ACTION_CPP_PUBLIC
#define CUSTOM_ACTION_CPP_LOCAL
#endif
#define ACTION_TUTORIALS_CPP_PUBLIC_TYPE
#define CUSTOM_ACTION_CPP_PUBLIC_TYPE
#endif

#ifdef __cplusplus
}
#endif

#endif // ACTION_TUTORIALS_CPP__VISIBILITY_CONTROL_H_
#endif // CUSTOM_ACTION_CPP__VISIBILITY_CONTROL_H_

2 Writing an action server
^^^^^^^^^^^^^^^^^^^^^^^^^^
Expand All @@ -130,7 +130,7 @@ Let's focus on writing an action server that computes the Fibonacci sequence usi
2.1 Writing the action server code
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Open up ``action_tutorials_cpp/src/fibonacci_action_server.cpp``, and put the following code in:
Open up ``custom_action_cpp/src/fibonacci_action_server.cpp``, and put the following code in:

.. literalinclude:: scripts/server.cpp
:language: c++
Expand Down Expand Up @@ -209,7 +209,7 @@ In the previous section we put the action server code into place.
To get it to compile and run, we need to do a couple of additional things.

First we need to setup the CMakeLists.txt so that the action server is compiled.
Open up ``action_tutorials_cpp/CMakeLists.txt``, and add the following right after the ``find_package`` calls:
Open up ``custom_action_cpp/CMakeLists.txt``, and add the following right after the ``find_package`` calls:

.. code-block:: cmake
Expand All @@ -219,13 +219,13 @@ Open up ``action_tutorials_cpp/CMakeLists.txt``, and add the following right aft
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_compile_definitions(action_server
PRIVATE "ACTION_TUTORIALS_CPP_BUILDING_DLL")
PRIVATE "CUSTOM_ACTION_CPP_BUILDING_DLL")
ament_target_dependencies(action_server
"action_tutorials_interfaces"
"custom_action_interfaces"
"rclcpp"
"rclcpp_action"
"rclcpp_components")
rclcpp_components_register_node(action_server PLUGIN "action_tutorials_cpp::FibonacciActionServer" EXECUTABLE fibonacci_action_server)
rclcpp_components_register_node(action_server PLUGIN "custom_action_cpp::FibonacciActionServer" EXECUTABLE fibonacci_action_server)
install(TARGETS
action_server
ARCHIVE DESTINATION lib
Expand All @@ -238,7 +238,7 @@ And now we can compile the package. Go to the top-level of the ``ros2_ws``, and
colcon build
This should compile the entire workspace, including the ``fibonacci_action_server`` in the ``action_tutorials_cpp`` package.
This should compile the entire workspace, including the ``fibonacci_action_server`` in the ``custom_action_cpp`` package.

2.3 Running the action server
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Expand All @@ -248,15 +248,15 @@ Source the workspace we just built (``ros2_ws``), and try to run the action serv

.. code-block:: bash
ros2 run action_tutorials_cpp fibonacci_action_server
ros2 run custom_action_cpp fibonacci_action_server
3 Writing an action client
^^^^^^^^^^^^^^^^^^^^^^^^^^

3.1 Writing the action client code
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Open up ``action_tutorials_cpp/src/fibonacci_action_client.cpp``, and put the following code in:
Open up ``custom_action_cpp/src/fibonacci_action_client.cpp``, and put the following code in:

.. literalinclude:: scripts/client.cpp
:language: c++
Expand Down Expand Up @@ -337,7 +337,7 @@ In the previous section we put the action client code into place.
To get it to compile and run, we need to do a couple of additional things.

First we need to setup the CMakeLists.txt so that the action client is compiled.
Open up ``action_tutorials_cpp/CMakeLists.txt``, and add the following right after the ``find_package`` calls:
Open up ``custom_action_cpp/CMakeLists.txt``, and add the following right after the ``find_package`` calls:

.. code-block:: cmake
Expand All @@ -347,13 +347,13 @@ Open up ``action_tutorials_cpp/CMakeLists.txt``, and add the following right aft
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_compile_definitions(action_client
PRIVATE "ACTION_TUTORIALS_CPP_BUILDING_DLL")
PRIVATE "CUSTOM_ACTION_CPP_BUILDING_DLL")
ament_target_dependencies(action_client
"action_tutorials_interfaces"
"custom_action_interfaces"
"rclcpp"
"rclcpp_action"
"rclcpp_components")
rclcpp_components_register_node(action_client PLUGIN "action_tutorials_cpp::FibonacciActionClient" EXECUTABLE fibonacci_action_client)
rclcpp_components_register_node(action_client PLUGIN "custom_action_cpp::FibonacciActionClient" EXECUTABLE fibonacci_action_client)
install(TARGETS
action_client
ARCHIVE DESTINATION lib
Expand All @@ -366,7 +366,7 @@ And now we can compile the package. Go to the top-level of the ``ros2_ws``, and
colcon build
This should compile the entire workspace, including the ``fibonacci_action_client`` in the ``action_tutorials_cpp`` package.
This should compile the entire workspace, including the ``fibonacci_action_client`` in the ``custom_action_cpp`` package.

3.3 Running the action client
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Expand All @@ -377,7 +377,7 @@ Now source the workspace we just built (``ros2_ws``), and try to run the action

.. code-block:: bash
ros2 run action_tutorials_cpp fibonacci_action_client
ros2 run custom_action_cpp fibonacci_action_client
You should see logged messages for the goal being accepted, feedback being printed, and the final result.

Expand Down
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