话题move_base/result，获取状态

Action Published Topics

move_base/feedback (move_base_msgs/MoveBaseActionFeedback)
Feedback含有基座当前位置信息
 
move_base/status (actionlib_msgs/GoalStatusArray)
携带目标执行的状态信息
 
move_base/result (move_base_msgs/MoveBaseActionResult)            
对于move_base action的result为空
 
 
 
 

 状态返回的是数字，数字代表的含义在actionlib_msgs/GoalStatus.msg中定义了

     # uint8 PENDING         = 0   # The goal has yet to be processed by the action server
    # uint8 ACTIVE          = 1   # The goal is currently being processed by the action server
    # uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing
    #                             #   and has since completed its execution (Terminal State)
    # uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)
    # uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due
    #                             #    to some failure (Terminal State)
    # uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,
    #                             #    because the goal was unattainable or invalid (Terminal State)
    # uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing
    #                             #    and has not yet completed execution
    # uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,
    #                             #    but the action server has not yet confirmed that the goal is canceled
    # uint8 RECALLED        = 8   # The goal received a cancel request before it started executing
    #                             #    and was successfully cancelled (Terminal State)
    # uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be
    #                             #    sent over the wire by an action server




头文件

from move_base_msgs.msg import *

#include <move_base_msgs/MoveBaseAction.h>

#include <move_base_msgs/MoveBaseGoal.h>

  源代码：获取到达目标的状态

void status_callback(const move_base_msgs::MoveBaseActionResult& msg)

{	

	if(msg.status.status == 3)

	{

		std::cout<<"the goal was achieved successfully!"<<std::endl;

	}

}

 
订阅话题

ros::Subscriber goal_sub =n.subscribe("move_base/result", 10, status_callback);