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Complete action server implementation #65

Merged
merged 21 commits into from
May 7, 2021
Merged

Complete action server implementation #65

merged 21 commits into from
May 7, 2021

Commits on Apr 28, 2021

  1. * GoalHandle transitions should be able to set a result. 

    * Add interfaces for feedback/goal/result, in order to make the API more type safe.
* Modify rcljava rosidl generator to implement the previous interfaces.
* Refactor GoalStatus enumeration.

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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    ivanpauno committed Apr 28, 2021
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  2. Add interface for ResultRequestDefinition 

    Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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  3. Handle result request. Made some progress in how to handle goal handl… 

    …e terminal transitions. Added some helper methods

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
    @ivanpauno
    ivanpauno committed Apr 28, 2021
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Commits on May 3, 2021

  1. Return early if goal request take failed 

    Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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  2. Don't set goal info stamp 

    Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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  3. Cleanup goal handle status transition bindings 

    Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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  4. Take advantage of nested class correctly 

    Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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  5. Implement publishResult 

    Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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  6. Publish status after terminal state 

    Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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  7. Add binding for notify_goal_done, fixup publish goal status 

    Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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Commits on May 4, 2021

  1. Handle expired goals 

    Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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  2. Improve type safety a bit further 

    Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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  3. It wasn't that easy 😂 

    Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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  4. Delete random debugging log 

    Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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  5. Fix fun bug 

    Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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    ivanpauno committed May 4, 2021
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Commits on May 5, 2021

  1. Add support for publishing feedback in action server 

    Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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    ivanpauno committed May 5, 2021
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Commits on May 6, 2021

  1. Fix nativePublishFeedbackMessage signature 

    Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Co-authored-by: Jacob Perron <jacob@openrobotics.org>
    @ivanpauno @jacobperron
    ivanpauno and jacobperron authored May 6, 2021
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  2. Delete extra space 

    Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Co-authored-by: Jacob Perron <jacob@openrobotics.org>
    @ivanpauno @jacobperron
    ivanpauno and jacobperron authored May 6, 2021
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  3. Test for event >= GOAL_EVENT_NUM_EVENTS 

    Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Co-authored-by: Jacob Perron <jacob@openrobotics.org>
    @ivanpauno @jacobperron
    ivanpauno and jacobperron authored May 6, 2021
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  4. Address peer review comments 

    Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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    ivanpauno committed May 6, 2021
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Commits on May 7, 2021

  1. please linters 

    Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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    ivanpauno committed May 7, 2021
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