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[WIP] Action support#410

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Commits on Sep 28, 2024

• Added skeleton examples for action client and server

  

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• Added action template

  

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• Added action generation

  

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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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• fix visibility

  

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• Instantiate a new ActionClient

  

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• dded action generation

  

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• Fix missing exported pre_field_serde field

  

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• Removed extra code

  

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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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• Fix action typesupport function

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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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• Add ActionImpl trait with internal messages and services

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• [WIP] Start defining server/client execute functions

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• Split srv.rs.em into idiomatic and rmw template files

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• Generate underlying service definitions for actions

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• Add runtime trait to get the UUID from a goal request

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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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• Add GetResultService methods to ActionImpl

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• Implement action result requests in the action server

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• Implement ActionImpl trait methods in generator

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• Fix formatting in example

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• Hook up ServerGoalHandle callbacks into the ActionServer

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• Replace set_result_response_status with create_result_response

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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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