rosbot游戏版本不兼容

下载最新版本。游戏版本不兼容是因为不是最新版本，无法进入游戏，所以下载最新版本即可。游戏，体育手段的一种，也是文化娱乐的一种形式，以一定的形式反映人类社会劳动、军事、文化等方面的活动。

1 创建工程
cd ~/catkin_ws/src
catkin_create_pkg action std_msgs rospy
2 设计action定义文件，内容有goal feedback result
这个和service的srv文件很像，放置再工程目录的action目录下
duration time_to_wait #goal，客户端发送的等待总时间
---
duration time_elapsed #result ,服务器端发送的等了多久，
uint32 updates_sent #更新多少次
---
duration time_elapsed # feedback，服务器端周期性的发送已等了多久
duration time_remaining #还剩多久
3 修改CMakeListstxt文件，配置默认支持
31 增加模块actionlib_msgs
find_package(catkin REQUIRED COMPONENTS
#其他已有模块
actionlib_msgs#增加
)
32 增加action服务定义文件
add_action_files(
DIRECTORY action
FILES Timeraction
)
33 action的msg
generate_messages(
DEPENDENCIES
actionlib_msgs
std_msgs
)
34 catkin的msg支持
catkin_package(
CATKIN_DEPENDS
actionlib_msgs
)
4 编译工程
cd ~/catkin_ws
catkin_make
5 编写action服务器端程序
#!/usr/bin/env python
import roslib; roslibload_manifest('action')
import rospy
import time
import actionlib
from actionmsg import TimerAction, TimerGoal, TimerResult
def do_timer(goal):
start_time = timetime()
timesleep(goaltime_to_waitto_sec())
result = TimerResult()
resulttime_elapsed = rospyDurationfrom_sec(timetime() - start_time)
resultupdates_sent = 0
serverset_succeeded(result)
rospyinit_node('timer_action_server')
server = actionlibSimpleActionServer('timer', TimerAction, do_timer, False)
serverstart()
rospyspin()
6 编写ros的action客户端程序
#!/usr/bin/env python
import roslib; roslibload_manifest('action')
import rospy
import actionlib
from actionmsg import TimerAction, TimerGoal, TimerResult
rospyinit_node('timer_action_client')
client = actionlibSimpleActionClient('timer', TimerAction)
clientwait_for_server()
goal = TimerGoal()
goaltime_to_wait = rospyDurationfrom_sec(50)
clientsend_goal(goal)
clientwait_for_result()
print('Time elapsed: %f'%(clientget_result()time_elapsedto_sec()))
7 测试运行（开四个终端）
roscore
rosrun action action_cpy
rosrun action action_spy
8 查看信息
liao@liao-eagle:~/catkin_ws/src/action/src$ rostopic list
/rosout
/rosout_agg
/timer/cancel
/timer/feedback
/timer/goal
/timer/result
/timer/status
liao@liao-eagle:~/catkin_ws/src/action/src$ rostopic info /timer/goal
Type: action/TimerActionGoal
Publishers: None
Subscribers:
/timer_action_server (>