####################################
##FILL ME IN
####################################
## links to any required tutorials
## note.0= [[actionlib_tutorials/Tutorials/SimpleActionClient(Threaded)|writing a threaded simple action client]]
## descriptive title for the tutorial
## title = Running an Action Server and Client with Other Nodes
## multi-line description to be displayed in search 
## description = This tutorial covers running the averaging action server and client with another data node then visualizing the channel output and node graph.
## the next tutorial description 
## next =
## links to next tutorial
## next.0.link=
## next.1.link=
## what level user is this tutorial for
## level= IntermediateCategory
####################################

<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

<<TableOfContents(4)>>

<<Version()>>

<<Buildsystem()>>

== Writing the Data Node ==
Before running the action server and client a data node needs to be created. Create actionlib_tutorials/scripts/gen_numbers.py in your favorite editor, and place the following inside it:
{{{{#!wiki buildsystem rosbuild
{{{
#!python
#!/usr/bin/env python
import roslib; roslib.load_manifest('actionlib_tutorials')
import rospy
from std_msgs.msg import Float32
import random
def gen_number():
    pub = rospy.Publisher('random_number', Float32)
    rospy.init_node('random_number_generator', log_level=rospy.INFO)
    rospy.loginfo("Generating random numbers")

    while not rospy.is_shutdown():
        pub.publish(Float32(random.normalvariate(5, 1)))
        rospy.sleep(0.05)

if __name__ == '__main__':
  try:
    gen_number()
  except Exception, e:
    print "done"
}}}
}}}}
{{{{#!wiki buildsystem catkin
{{{
#!python
#!/usr/bin/env python

import rospy
from std_msgs.msg import Float32
import random
def gen_number():
    pub = rospy.Publisher('random_number', Float32)
    rospy.init_node('random_number_generator', log_level=rospy.INFO)
    rospy.loginfo("Generating random numbers")

    while not rospy.is_shutdown():
        pub.publish(Float32(random.normalvariate(5, 1)))
        rospy.sleep(0.05)

if __name__ == '__main__':
  try:
    gen_number()
  except Exception, e:
    print "done"
}}}
}}}}
The above code generates random numbers with a normal distribution centered around 5 with a standard deviation of 1 and publishes the numbers on the /random_number topic.

Don't forget to make the node executable:
 {{{
chmod +x gen_numbers.py
}}}

== Start the Data Node ==
Start by bringing up the roscore in a new terminal:
{{{
$ roscore
}}}
Now start the data node in a new terminal:
{{{
rosrun actionlib_tutorials gen_numbers.py 
}}}
You will see: 
 {{{
Generating random numbers
}}}

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

While the server is acting on the goal you will see something similar to: 
 {{{
---
header: 
  seq: 1
  stamp: 1251489509536852000
  frame_id: 
status: 
  goal_id: 
    stamp: 1251489509511553000
    id: 1251489509.511553000
  status: 1
  text: 
feedback: 
  sample: 1
  data: 3.96250081062
  mean: 3.96250081062
  std_dev: 0.000687940046191
---
header: 
  seq: 2
  stamp: 1251489509588828000
  frame_id: 
status: 
  goal_id: 
    stamp: 1251489509511553000
    id: 1251489509.511553000
  status: 1
  text: 
feedback: 
  sample: 2
  data: 5.16988706589
  mean: 4.56619405746
  std_dev: 0.60369348526
---
}}}
== Viewing the Action Result ==
In a new terminal, rostopic the feedback channel to see the feedback from the action server:
{{{
$ rostopic echo /averaging/result
}}}

After the goal is completed you will see something similar to: 
 {{{
---
header: 
  seq: 1
  stamp: 1251489786993936000
  frame_id: 
status: 
  goal_id: 
    stamp: 1251489781746524000
    id: 1251489781.746524000
  status: 4
  text: 
result: 
  mean: 4.99936008453
  std_dev: 1.10789334774
}}}

== Viewing the Action Node Graph ==

Alternatively you can look at the nodes:
{{{{{#!wiki version fuerte_and_older
{{{
$ rxgraph &
}}}
}}}}}
{{{{{#!wiki version groovy_and_newer
{{{
$ rosrun rqt_graph rqt_graph &
}}}
}}}}}

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


== Start the Client and Server ==
Start the action server in a new terminal:
{{{
$ rosrun actionlib_tutorials averaging_server
}}}
When the action has completed it will print out an info message which may be succeeded or aborted depending on the random data sampled.
 {{{
[ INFO] 1251489514.736936000: /averaging: Aborted
}}}
And then run the action client in a new terminal:
{{{
$ rosrun actionlib_tutorials averaging_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: ABORTED
}}} 



## AUTOGENERATED DO NOT DELETE 
## TutorialCategory
## FILL IN THE STACK TUTORIAL CATEGORY HERE