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## links to any required tutorials
## note.0= [[actionlib_tutorials/Tutorials/SimpleActionClient|writing a simple action client]]
## descriptive title for the tutorial
## title = Running an Action Client and Server
## multi-line description to be displayed in search 
## description = This tutorial covers running the Fibonacci server and client then visualizing the channel output and node graph.
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## next.0.link= [[actionlib_tutorials/Tutorials/Calling Action Server without Action Client|Send a Goal to Action Server without Action Client]]
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<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>


<<TableOfContents(4)>>

<<Version()>>

== Viewing the Action Feedback ==
First, same as previous tutorials, run the Action server ([[actionlib_tutorials/Tutorials/SimpleActionServer(ExecuteCallbackMethod)#Running_the_Action_server|C++]] | [[actionlib_tutorials/Tutorials/Writing a Simple Action Server using the Execute Callback (Python)#Running_the_Action_Server|Python]]) and client ([[actionlib_tutorials/Tutorials/SimpleActionClient#Running_the_Action_client|C++]] | [[actionlib_tutorials/Tutorials/Writing a Simple Action Client (Python)#Running_the_Client|Python]]), along with `roscore`.

In a new terminal, rostopic the feedback channel to see the feedback from the action server:
{{{
$ rostopic echo /fibonacci/feedback
}}}

While the server is acting on the goal you will see something similar to: 
 {{{
---
header: 
  seq: 1
  stamp: 1250813676611629000
  frame_id: 
status: 
  goal_id: 
    stamp: 1250813676611339000
    id: 1250813676611339000
  status: 1
  text: 
feedback: 
  sequence: (0, 1, 1)
---
header: 
  seq: 2
  stamp: 1250813677611559000
  frame_id: 
status: 
  goal_id: 
    stamp: 1250813676611339000
    id: 1250813676611339000
  status: 1
  text: 
feedback: 
  sequence: (0, 1, 1, 2)
---
header: 
  seq: 3
  stamp: 1250813678611635000
  frame_id: 
status: 
  goal_id: 
    stamp: 1250813676611339000
    id: 1250813676611339000
  status: 1
  text: 
feedback: 
  sequence: (0, 1, 1, 2, 3)
---
}}}

== Viewing the Action Result ==
In a new terminal, rostopic the feedback channel to see the feedback from the action server:
{{{
$ rostopic echo /fibonacci/result
}}}

After the goal is completed you will see something similar to: 
 {{{
---
header: 
  seq: 1
  stamp: 1250813759950015000
  frame_id: 
status: 
  goal_id: 
    stamp: 1250813739949752000
    id: 1250813739949752000
  status: 3
  text: 
result: 
  sequence: (0, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 233, 377, 610, 987, 1597, 2584, 4181, 6765, 10946)
}}}

== Viewing the Action Node Graph ==

Alternatively you can look at the nodes while the server and client are running:

{{{{{#!wiki version electric
{{{
$ rxgraph
}}}
}}}}}

{{{{{#!wiki version fuerte
{{{
$ rxgraph
}}}
}}}}}

{{{{{#!wiki version groovy
{{{
rqt_graph
}}}
}}}}}


{{attachment:fibonacci_client_server.png||width=100%}}


== Starting the Client and Server ==
Start the action server:
{{{
$ rosrun actionlib_tutorials fibonacci_server
}}}
When the action has completed it will print out an info message of succeeded.
 {{{
[ INFO] 1251489514.736936000: /fibonacci: Succeeded
}}}
And then run the action client:
{{{
$ rosrun actionlib_tutorials fibonacci_client
}}}
When the client receives notification of the completion of the goal it will also print out an info message with the result of the action:
 {{{
[ INFO] 1251489514.737339000: Action finished: SUCCEEDED
}}}