ROS 2 Labs · exercise 05

Action feedback and result

Produce decreasing feedback and a final result for a motion goal.

Lab 05 · Services and motion actions

Guided steps

1.Move toward the target in fixed increments and report the remaining distance each step.
2.Stop when the remaining distance reaches zero and report the result.
3.Feedback must never increase: that is what an operator watches.

Your code

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Expected output

[INFO] remaining 0.20
[INFO] remaining 0.10
[INFO] remaining 0.00
[INFO] reached 0.40

Automated checks

· Loops toward the target
· Reports remaining distance

On Ubuntu it looks like this

Simulated transcript of the real lab commands.

$ ros2 action list -t
/move_joint [robot_interfaces/action/MoveJoint]

$ ros2 action send_goal /move_joint robot_interfaces/action/MoveJoint "{target: 0.5}" --feedback
Goal accepted with ID: 9f2c
Feedback: remaining: 0.2
Feedback: remaining: 0.1
Result: reached: true