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common libraries (tf/actionlib/tutorial).\nrosruby_tutorials contains samples of rosruby.\n\nactionlib\n---------------\n[actionlib](http://ros.org/wiki/actionlib) provides a standardized interface for interfacing with preemptible tasks.\n\n\n### simple action server ###\n\n```ruby\n#!/usr/bin/env ruby\n\nrequire 'ros'\nROS::load_manifest(\"rosruby_actionlib\")\nrequire 'actionlib/simple_action_server'\nrequire 'actionlib_tutorials/FibonacciAction'\n\nnode = ROS::Node.new('/test_simple_action_server')\nserver = Actionlib::SimpleActionServer.new(node,\n                                           '/fibonacci',\n                                           Actionlib_tutorials::FibonacciAction)\nserver.start do |goal|\n  feedback = Actionlib_tutorials::FibonacciFeedback.new\n  feedback.sequence = [0, 1]\n  r = ROS::Rate.new(1.0)\n  for i in 1..goal.order\n    feedback.sequence.push(feedback.sequence[i] + feedback.sequence[i-1])\n    server.publish_feedback(feedback)\n    node.loginfo(\"feedback = [#{feedback.sequence.join(\",\")}]\")\n    r.sleep\n  end\n  result = Actionlib_tutorials::FibonacciResult.new\n  result.sequence = feedback.sequence\n  server.set_succeeded(result)\nend\n\nnode.spin\n```\n\n### simple action client ###\n\n```ruby\n#!/usr/bin/env ruby\n\nrequire 'ros'\nROS::load_manifest(\"rosruby_actionlib\")\nrequire 'actionlib/simple_action_client'\nrequire 'actionlib_tutorials/FibonacciAction'\n\nnode = ROS::Node.new('/test_simple_action_client')\nclient = Actionlib::SimpleActionClient.new(node,\n                                           '/fibonacci',\n                                           Actionlib_tutorials::FibonacciAction)\nclient.wait_for_server(1.0)\n\ngoal = Actionlib_tutorials::FibonacciGoal.new\ngoal.order = 5\nclient.send_goal(goal,\n                 :feedback_callback =\u003e proc {|feedback|\n                   node.loginfo(\"feedback = [#{feedback.sequence.join(\",\")}]\")\n                 })\n\nresult = client.wait_for_result(10.0)\nnode.loginfo(\"result = #{result.sequence.join(\",\")}\")\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fotl%2Frosruby_common","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fotl%2Frosruby_common","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fotl%2Frosruby_common/lists"}