Implement ROS2 actions #60
Description
Title says it all: it would be cool to support ROS2 actions.
Potentially duplicates RobotecAI/ros2-for-unity#48
I'm currently trying to write this, PR will hopefully follow.
An overview on how the different APIs look so far:
| Langague | Publisher | Service | Action |
| Python |
from std_msgs.msg import String
self.create_publisher(String, 'topic', 10) |
from example_interfaces.srv import AddTwoInts
self.create_service(AddTwoInts, 'add_two_ints', self.add_two_ints_callback) |
from action_tutorials_interfaces.action import Fibonacci
ActionServer(
self,
Fibonacci,
'fibonacci',
self.execute_callback) |
| C++ |
#include "std_msgs/msg/string.hpp"
this->create_publisher<std_msgs::msg::String>("topic", 10); |
#include "example_interfaces/srv/add_two_ints.hpp"
this->create_service<example_interfaces::srv::AddTwoInts>("add_two_ints", &add); |
#include "action_tutorials_interfaces/action/fibonacci.hpp"
rclcpp_action::create_server<Fibonacci>(
this,
"fibonacci",
std::bind(&FibonacciActionServer::handle_goal, this, _1, _2),
std::bind(&FibonacciActionServer::handle_cancel, this, _1),
std::bind(&FibonacciActionServer::handle_accepted, this, _1)); |
| C# |
using std_msgs.msg;
node.CreatePublisher<String>("chatter"); |
using example_interfaces.srv;
node.CreateService<AddTwoInts_Request, AddTwoInts_Response>("add_two_ints", recv_callback); |
Missing |