ROS导航中目标点状态

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2021年2月4日 09时12分

参考:http://wiki.ros.org/actionlib/DetailedDescription

 

ROS导航中目标点状态插图

 

  • setAccepted – After inspecting a goal, decide to start processing it

  • setAccepted – 检查目标后,决定开始处理

  • setRejected – After inspecting a goal, decide to never process it because it is an invalid request (out of bounds, resources not available, invalid, etc)

  • setRejected – 检查目标后,决定不要处理它,因为它是一个无效的请求(超出界限,资源不可用,无效等)

  • setSucceeded – Notify that goal has been successfully processed

  • setSucceeded – 通知该目标已成功处理

  • setAborted – Notify that goal encountered an error during processsing, and had to be aborted

  • setAborted – 通知目标在处理过程中遇到错误,并且必须中止

  • setCanceled – Notify that goal is no longer being processed, due to a cancel request

  • setCanceled – 由于取消请求,通知该目标不再被处理

 

The action client can also asynchronously trigger state transitions:

 

动作客户端也可以异步触发状态转换:

 

  • CancelRequest: The client notifies the action server that it wants the server to stop processing the goal.

  • CancelRequest:客户端通知操作服务器它希望服务器停止处理目标。

 

Intermediate States

中间状态

 

  • Pending – The goal has yet to be processed by the action server

  • 待处理 – 目标尚未由操作服务器处理

  • Active – The goal is currently being processed by the action server

  • 活动 – 目标正在由操作服务器处理

  • Recalling – The goal has not been processed and a cancel request has been received from the action client, but the action server has not confirmed the goal is canceled

  • 回想 – 目标没有被处理,并且已经从操作客户端收到取消请求,但是操作服务器尚未确认目标被取消

  • Preempting – The goal is being processed, and a cancel request has been received from the action client, but the action server has not confirmed the goal is canceled

  • 抢占 – 正在处理目标,并从行动客户端收到取消请求,但是行动服务器尚未确认目标已取消

 

Terminal States

最终状态

 

  • Rejected – The goal was rejected by the action server without being processed and without a request from the action client to cancel

  • 被拒绝 – 目标被操作服务器拒绝,而不被处理,没有来自操作客户端的请求取消

  • Succeeded – The goal was achieved successfully by the action server

  • 成功 – 动作服务器成功实现了目标

  • Aborted – The goal was terminated by the action server without an external request from the action client to cancel

  • 中止 – 目标被操作服务器终止,没有来自操作客户端的外部请求取消

  • Recalled – The goal was canceled by either another goal, or a cancel request, before the action server began processing the goal

  • 回想起来 – 在行动服务器开始处理目标之前,目标被另一个目标或取消请求取消

  • Preempted – Processing of the goal was canceled by either another goal, or a cancel request sent to the action server

  • 抢占 – 目标的处理被另一个目标或发送到操作服务器的取消请求取消

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