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not_composable.cpp
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not_composable.cpp
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// Copyright 2018 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <inttypes.h>
#include <memory>
#include "example_interfaces/action/fibonacci.hpp"
#include "rclcpp/rclcpp.hpp"
// TODO(jacobperron): Remove this once it is included as part of 'rclcpp.hpp'
#include "rclcpp_action/rclcpp_action.hpp"
using Fibonacci = example_interfaces::action::Fibonacci;
int main(int argc, char ** argv)
{
rclcpp::init(argc, argv);
auto node = rclcpp::Node::make_shared("minimal_action_client");
auto action_client = rclcpp_action::create_action_client<Fibonacci>(node, "fibonacci");
// Populate a goal
auto goal_msg = Fibonacci::Goal();
goal_msg.order = 10;
// Send goal and wait for result (registering feedback callback is optional)
auto goal_handle = action_client->async_send_goal(goal_msg);
if (rclcpp::spin_until_future_complete(node, goal_handle->result_future()) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
{
RCLCPP_ERROR(node->get_logger(), "send goal call failed :(");
return 1;
}
auto result = goal_handle->result_future().get();
RCLCPP_INFO(node->get_logger(), "result received");
for (auto number : result.sequence)
{
RCLCPP_INFO(node->get_logger(), "%" PRId64, number);
}
rclcpp::shutdown();
return 0;
}