correct template syntax

Signed-off-by: Alberto Soragna <[email protected]>
(cherry picked from commit d4dd4e4)

Author: alsora

rclcpp/include/rclcpp/client.hpp

@@ -908,7 +908,7 @@ class Client : public ClientBase
         // the server might be available in another process or was configured to not use IPC.
         if (intra_process_server_available) {
           // Send intra-process request
-          ipm->send_intra_process_client_request<ServiceT>(
+          ipm->template send_intra_process_client_request<ServiceT>(
             intra_process_client_id_,
             std::make_pair(std::move(request), std::move(value)));
           return ipc_sequence_number_++;

rclcpp_action/include/rclcpp_action/client.hpp

@@ -526,7 +526,7 @@ class Client : public ClientBase
         ipc_action_client_->store_goal_response_callback(
           hashed_guuid, goal_response_callback);
 
-        intra_process_send_done = ipm->intra_process_action_send_goal_request<ActionT>(
+        intra_process_send_done = ipm->template intra_process_action_send_goal_request<ActionT>(
             ipc_action_client_id_,
             std::move(goal_request),
             hashed_guuid);
@@ -905,7 +905,7 @@ class Client : public ClientBase
           ipc_action_client_->store_result_response_callback(
             hashed_guuid, result_response_callback);
 
-          intra_process_send_done = ipm->intra_process_action_send_result_request<ActionT>(
+          intra_process_send_done = ipm->template intra_process_action_send_result_request<ActionT>(
               ipc_action_client_id_,
               std::move(goal_result_request));
         }
@@ -961,7 +961,7 @@ class Client : public ClientBase
         ipc_action_client_->store_cancel_goal_callback(
           hashed_guuid, cancel_goal_callback);
 
-        intra_process_send_done = ipm->intra_process_action_send_cancel_request<ActionT>(
+        intra_process_send_done = ipm->template intra_process_action_send_cancel_request<ActionT>(
             ipc_action_client_id_,
             std::move(cancel_request));
       }

rclcpp_action/include/rclcpp_action/server.hpp

@@ -521,11 +521,7 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
 
     auto ipm = lock_intra_process_manager();
 
-    // Here we store the uuid of the goal and associate it with a client
-    // so we can retrieve it when response is ready, or when sending feedback
-    // since the feedback calls only provide the goal UUID
-    // Store an entry
-    ipm->store_intra_process_action_client_goal_uuid(
+    ipm->template intra_process_action_send_goal_response<ActionT>(
       intra_process_action_client_id,
       std::hash<GoalUUID>()(uuid));
 
@@ -598,7 +594,9 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
         std::move(status_msg));
     }
 
-    ipm->intra_process_action_send_cancel_response<ActionT>(
+    GoalUUID uuid = request->goal_info.goal_id.uuid;
+
+    ipm->template intra_process_action_send_cancel_response<ActionT>(
       intra_process_action_client_id,
       std::move(response));
   }
@@ -632,8 +630,8 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
                 "after destruction of intra process manager");
       }
 
-      auto typed_response = std::static_pointer_cast<ResultResponse>(result_response);
-      ipm->intra_process_action_send_result_response<ActionT>(
+
+      ipm->template intra_process_action_send_result_response<ActionT>(
         intra_process_action_client_id,
         std::move(typed_response));
     }