ROS导航中目标点状态

科技前沿 • 2025-01-09 08:57 • 阅读 58

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

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**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**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