参考 https://blog.csdn.net/qq_23981335/article/details/100335743

1、 定义action

# src/cat1/action/Action1.action  文件路径
# Define the goal
uint32 dishwasher_id  # Specify which dishwasher we want to use
---
# Define the result
uint32 total_dishes_cleaned
---
# Define a feedback message 
float32 percent_complete

修改CMakeLists.txt

# src/cat1/CMakeLists.txt
## Generate actions in the 'action' folder
add_action_files(
  FILES
  Action1.action
  # Action2.action
)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  actionlib_msgs
  actionlib
  message_generation
)

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  std_msgs
  actionlib_msgs
)

修改package.xml

#src/cat1/package.xml  添加以下
<build_depend>actionlib</build_depend>
<build_depend>actionlib_msgs</build_depend>
<exec_depend>actionlib</exec_depend> 
<exec_depend>actionlib_msgs</exec_depend>

catkin_make 编译验证是否成功

服务端程序

#!usr/bin/python
# _*_ coding: utf-8 _*_

# @File    :   service1.py
# @Version :   1.0
# @Author  :   xin
# @Time    :   2021/07/13 15:54:18
# Description:

import rospy
import roslib
import actionlib
from cat1.msg import *


class DishesServer:
    def __init__(self):
        self.server = actionlib.SimpleActionServer(
            "do_dishes", Action1Action, self.execute_dishes, True)

    def execute_dishes(self, goal):
        i = 0
        percent = Action1Feedback()
        res = Action1Result()
        rate = rospy.Rate(25)
        print("execute_dishes")
        while i < goal.dishwasher_id:
            i += 1
            percent.percent_complete = i/float(goal.dishwasher_id)
            self.server.publish_feedback(percent)
            rate.sleep()
        res.total_dishes_cleaned = i
        self.server.set_succeeded(res)


if __name__ == "__main__":
    print("service...")
    rospy.init_node("dishes_server")
    server=DishesServer()
    rospy.spin()

客户端程序

#!usr/bin/python
# _*_ coding: utf-8 _*_

# @File    :   client1.py
# @Version :   1.0
# @Author  :   xin
# @Time    :   2021/07/13 15:42:28
# Description:

import rospy
import roslib
import actionlib
from rospy import client
from cat1.msg import *


def done_callback(state, res):
    rospy.loginfo("done_callback state%d dishes:%d",state, res.total_dishes_cleaned)


def action_back():
    rospy.loginfo("action_back")


def feedback_callback(fb):
    t=int(fb.percent_complete*100);
    rospy.loginfo("feedback_callback %d%%",t )


if __name__ == "__main__":
    print("client ...")
    rospy.init_node("dishces_client")
    client = actionlib.SimpleActionClient("do_dishes", Action1Action)
    client.wait_for_server()
    goal = Action1Goal()
    goal.dishwasher_id = 5
    client.send_goal(goal, done_callback, action_back, feedback_callback)
    client.wait_for_result(rospy.Duration.from_sec(5.0))