refactor(nav2_toolkit): remove unused action_client (#670)

Author: boczekbartek

src/rai_core/rai/tools/ros2/navigation/nav2.py

@@ -23,15 +23,13 @@
 from nav2_msgs.action import NavigateToPose
 from nav_msgs.msg import OccupancyGrid
 from pydantic import BaseModel, Field
-from rclpy.action import ActionClient
 from tf_transformations import euler_from_quaternion, quaternion_from_euler
 
 from rai.communication.ros2 import ROS2Message
 from rai.communication.ros2.connectors import ROS2Connector
 from rai.messages import MultimodalArtifact
 from rai.tools.ros2.base import BaseROS2Tool, BaseROS2Toolkit
 
-action_client: Optional[ActionClient] = None
 current_action_id: Optional[str] = None
 current_feedback: Optional[NavigateToPose.Feedback] = None
 current_result: Optional[NavigateToPose.Result] = None
@@ -88,12 +86,6 @@ def on_done(self, result: NavigateToPose.Result) -> None:
         current_result = result
 
     def _run(self, x: float, y: float, z: float, yaw: float) -> str:
-        global action_client
-        if action_client is None:
-            action_client = ActionClient(
-                self.connector.node, NavigateToPose, self.action_name
-            )
-
         pose = PoseStamped()
         pose.header.frame_id = self.frame_id
         pose.header.stamp = self.connector.node.get_clock().now().to_msg()