延續昨天的主題，已經建好action 需要用到的message以後，就可以寫action server 和action client進行任務的處理囉! 本次都以c++為範例，python版的請參考官網。
在編譯完昨天的message後，在client和server端都可以進行呼叫。

client:

   1 #include <chores/DoDishesAction.h> // Note: "Action" is appended
   2 #include <actionlib/client/simple_action_client.h>
   3 
   4 typedef actionlib::SimpleActionClient<chores::DoDishesAction> Client;
   5 
   6 int main(int argc, char** argv)
   7 {
   8   ros::init(argc, argv, "do_dishes_client");
   9   Client client("do_dishes", true); // true -> don't need ros::spin()
  10   client.waitForServer();
  11   chores::DoDishesGoal goal;
  12   // Fill in goal here
  13   client.sendGoal(goal);
  14   client.waitForResult(ros::Duration(5.0));
  15   if (client.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
  16     printf("Yay! The dishes are now clean");
  17   printf("Current State: %s\n", client.getState().toString().c_str());
  18   return 0;
  19 }

其實還蠻直觀的，就是宣告一個client物件以後讓他跟server交握，之後送指令過去，並以每秒5次的頻率等待結果直到完成洗碗的動作。

server:

   1 #include <chores/DoDishesAction.h>  // Note: "Action" is appended
   2 #include <actionlib/server/simple_action_server.h>
   3 
   4 typedef actionlib::SimpleActionServer<chores::DoDishesAction> Server;
   5 
   6 void execute(const chores::DoDishesGoalConstPtr& goal, Server* as)  // Note: "Action" is not appended to DoDishes here
   7 {
   8   // Do lots of awesome groundbreaking robot stuff here
   9   as->setSucceeded();
  10 }
  11 
  12 int main(int argc, char** argv)
  13 {
  14   ros::init(argc, argv, "do_dishes_server");
  15   ros::NodeHandle n;
  16   Server server(n, "do_dishes", boost::bind(&execute, _1, &server), false);
  17   server.start();
  18   ros::spin();
  19   return 0;
  20 }

server端則是定義好會被呼叫的API以後執行server等待API被呼叫，跟service 的server蠻像的。

今天時間有點不夠用，真是抱歉QQQQQ 社畜上班族筆者之後會找時間再回來把程式碼的部分好好解析的，若有需要的話可以參考reference內的api文件。

Reference

https://docs.ros.org/api/actionlib/html/classactionlib_1_1SimpleActionClient.html#a94b5a38fae6917f83331560b81eea341
https://docs.ros.org/api/actionlib/html/classactionlib_1_1SimpleActionServer.html