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Robot Operating System Cookbook by Kumar Bipin

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Getting ready

The actionlib package consists of ActionClient and ActionServer, which communicate via a "ROS Action Protocol" built on top of ROS messages via function calls and callbacks.

The following diagram shows the interaction between the client and server applications:

Client-server interaction

We have to define a few messages that are action-specific, through which the client and server can communicate.

These are defined as goal, feedback, and result messages:

  • Goal: We will introduce the notion of a goal as tasks that are accomplished using actions which can be sent to ActionServer by ActionClient. For example, in the case of a mobile ...

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