ROS2 Action C++ #2

7. Action Client 작성 파일 생성: cd ~/ros2_study/src/my_cpp_package/ touch src/move_distance_client.cpp 내용: #include <chrono> #include <cstdlib> #include <memory> #include “rclcpp/rclcpp.hpp” #include “rclcpp_action/rclcpp_action.hpp” #include “my_first_package_msgs/action/move_distance.hpp” using namespace std::chrono_literals; class MoveDistanceClient : public rclcpp::Node { public: using MoveDistance = my_first_package_msgs::action::MoveDistance; using GoalHandleMoveDistance = rclcpp_action::ClientGoalHandle<MoveDistance>; MoveDistanceClient() : Node(“move_distance_client”) { action_client_ = rclcpp_action::create_client<MoveDistance>( this, “move_distance” ); } void send_goal(float target_distance) … Read more