[move_straight_in_2d_action_server_node] Adding basic functionality.

Author: Murilo Marinho

docs/source/action_servers_and_clients.rst

@@ -64,4 +64,22 @@ We start by creating a package to use the :code:`Service` we first created in :r
         GPL-3.0-only
         LGPL-3.0-only
         MIT
-        MIT-0
+        MIT-0
+
+
+Overview
+--------
+
+.. admonition:: File structure
+
+    This will be the file structure for the :code:`Action` tutorial. Highlighted are the main files for the :code:`ActionServer` and :code:`ActionClient`.
+
+    .. code-block:: console
+
+        TODO
+
+Before we start exploring the elements of the package, let us
+
+#. Create the Node with an :code:`ActionServer`.
+#. Create the Node with an :code:`ActionClient`.
+#. Update the :file:`setup.py` so that :program:`ros2 run` finds these programs.

ros2_tutorial_workspace/src/python_package_that_uses_the_actions/python_package_that_uses_the_actions/move_straight_in_2d_action_server_node.py

@@ -0,0 +1,92 @@
+"""
+MIT LICENSE
+
+Copyright (C) 2023-25 Murilo Marques Marinho (www.murilomarinho.info)
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+"""
+import math
+
+import rclpy
+from rclpy.action import ActionServer
+from rclpy.node import Node
+
+from geometry_msgs.msg import Point
+from package_with_interfaces.action import MoveStraightIn2D
+
+
+class MoveStraightIn2DActionServerNode(Node):
+    """A ROS2 Node with an Action Server for MoveStraightIn2D."""
+
+    def __init__(self):
+        super().__init__('move_straight_in_2d_action_server')
+
+        self.current_position = Point()
+
+        self.action_server = ActionServer(
+            self,
+            MoveStraightIn2D,
+            'move_straight_in_2d',
+            self.execute_callback)
+
+    def get_error_norm(self, desired_position):
+        print("TODO")
+
+    def execute_callback(self, goal: MoveStraightIn2D.ActionGoalHandle) -> MoveStraightIn2D.Result:
+        desired_position = goal.request.desired_position
+
+        self.get_logger().info(f'Target set to {desired_position}...')
+
+        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.succeed()
+
+        result = MoveStraightIn2D.Result()
+        result.final_position = self.current_position
+        return result
+
+
+def main(args=None):
+    """
+    The main function.
+    :param args: Not used directly by the user, but used by ROS2 to configure
+    certain aspects of the Node.
+    """
+    try:
+        rclpy.init(args=args)
+
+        node = MoveStraightIn2DActionServerNode()
+
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    except Exception as e:
+        print(e)
+
+
+if __name__ == '__main__':
+    main()