如何返回一个结果表明我正在 ros2 ActionServer 中执行？
下面的代码是ROS2 DOC的示例回调，该回调已在Actieserver中执行，它返回了该目标已成功。
但是我想创建一些返回我正在执行的客户的东西，或者仅通过反馈而做出可能？
def execute_callback(self, goal_handle):
self.get_logger().info('Executing goal...')
feedback_msg = Fibonacci.Feedback()
feedback_msg.partial_sequence = [0, 1]
for i in range(1, goal_handle.request.order):
feedback_msg.partial_sequence.append(
feedback_msg.partial_sequence[i] + feedback_msg.partial_sequence[i-1])
self.get_logger().info('Feedback: {0}'.format(feedback_msg.partial_sequence))
goal_handle.publish_feedback(feedback_msg)
time.sleep(1)
goal_handle.succeed()
result = Fibonacci.Result()
result.sequence = feedback_msg.partial_sequence
return result
我试图在goal_handle中找到一种方法，该方法说任务只是执行，但我找不到，我发现刚刚成功，流产和取消。
The code below is the ros2 doc's example callback that's executed in an ActionServer, it returns that the goal was suceeded.
But I want to create something that returns to the client that I'm executing or that's possible just by feedbacks?
def execute_callback(self, goal_handle):
self.get_logger().info('Executing goal...')
feedback_msg = Fibonacci.Feedback()
feedback_msg.partial_sequence = [0, 1]
for i in range(1, goal_handle.request.order):
feedback_msg.partial_sequence.append(
feedback_msg.partial_sequence[i] + feedback_msg.partial_sequence[i-1])
self.get_logger().info('Feedback: {0}'.format(feedback_msg.partial_sequence))
goal_handle.publish_feedback(feedback_msg)
time.sleep(1)
goal_handle.succeed()
result = Fibonacci.Result()
result.sequence = feedback_msg.partial_sequence
return result
I tried to find a method in the goal_handle that says that the task is just executing but I coudn't find, I found just succeded, abort and canceled.
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创建 ROS-ROS2 操作是为了异步执行长时间运行的流程/任务。在服务器端，您应该在执行长时间运行的任务期间发布反馈。
在客户端，您可以调用
send_goal_async并在 while 循环中旋转，直到完成您的目标。您可以参考我在此处编写的示例操作；
ROS-ROS2 actions are created to execute a long-running process/task asynchronously. On the server side, you should be publishing feedback during the execution of the long-running task.
On the client-side You can call
send_goal_asyncand spin in a while loop until your goal is done.You can refer to a sample action that I wrote in here;