首页ros2 AttributeError: 'MoveCircleActionClient' object has no attribute 'action_client'

ros2 AttributeError: 'MoveCircleActionClient' object has no attribute 'action_client'

时间: 2023-11-20 17:05:17 浏览: 187

根据提供的引用内容，这个错误可能是由于在使用MoveCircleActionClient时出现了问题。这个错误提示表明，MoveCircleActionClient对象没有名为'action_client'的属性。这可能是因为在代码中没有正确地初始化或调用MoveCircleActionClient对象。为了解决这个问题，可以尝试检查代码中是否正确地初始化了MoveCircleActionClient对象，并且是否正确地调用了相关的方法和属性。以下是一个可能的解决方案： ```python import rclpy from example_interfaces.action import Fibonacci class FibonacciActionClient: def __init__(self): self.node = rclpy.create_node('fibonacci_action_client') self.action_client = rclpy.action.ActionClient(self.node, Fibonacci, 'fibonacci') def send_goal(self, order): goal_msg = Fibonacci.Goal() goal_msg.order = order self.action_client.wait_for_server() self.send_goal_future = self.action_client.send_goal_async(goal_msg, feedback_callback=self.feedback_callback) self.send_goal_future.add_done_callback(self.goal_response_callback) def feedback_callback(self, feedback_msg): print('Received feedback: {0}'.format(feedback_msg.partial_sequence)) def goal_response_callback(self, future): goal_handle = future.result() if not goal_handle.accepted: print('Goal rejected') return print('Goal accepted') self.get_result_future = goal_handle.get_result_async() self.get_result_future.add_done_callback(self.get_result_callback) def get_result_callback(self, future): result = future.result().result print('Result: {0}'.format(result.sequence)) rclpy.shutdown() if __name__ == '__main__': rclpy.init() action_client = FibonacciActionClient() action_client.send_goal(10) rclpy.spin(action_client.node) ```

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