[WIP] Action support#410

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nwn wants to merge 52 commits into

ros2-rust:mainfrom

nwn:nwn-actions

Commits on Jun 7, 2025

Added skeleton examples for action client and server

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Added action template

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Added basic create_action_client function

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Fix linter

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Split action client and server examples

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checkin

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checkin

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fix visibility

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Instantiate a new ActionClient

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esteve
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nwn
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checkin

esteve
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nwn
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checkin

esteve
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checkin

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Fix rclrs to compile after rebase
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Sketch out action server construction and destruction
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Sketch out action client as well
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Pass rcl_clock_t from Node to ActionServer
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Split action servers and clients into separate modules
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Move ServerGoalHandle to separate module
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Begin implementing ActionServerGoalHandle functions
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Make GoalUuid into a newtype
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Document the ServerGoalHandle struct
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Add documentation and clean up
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Take goal, cancel, and accepted callbacks in ActionServer
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Store action clients and servers in the Node
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Add action client/server entities to wait set
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Handle action server/client readiness in WaitSet and executor
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Add rcl_action error codes
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[WIP] Start defining server/client execute functions
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Use rcl-allocated goal handle pointer in ServerGoalHandle
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Split execute_goal_request() out into three functions
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Partial implementation of ActionServer::publish_status()
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Add DropGuard convenience wrapper
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Complete implementation of ActionServer::publish_status()
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Move goal acceptance logic back into execute_goal_request()
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Integrate RMW message methods into ActionImpl
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Add UUID->GoalHandle hash-map to action server
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Add rosidl_runtime_rs::ActionImpl::create_feedback_message()
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Add ActionServer::publish_feedback() method
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Implement goal expiration in action server
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Implement goal cancel requests
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Implement action result requests in the action server
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Fix formatting in example
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Hook up ServerGoalHandle callbacks into the ActionServer
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Switch to create_result_response() in rclrs
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Hook up goal termination methods for goal handles
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Implement client-side trait methods for action messages
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