Using the name of the final state of configuration when using action.

Author: destogl

gpio_controllers/include/gpio_controllers/gpio_tool_controller.hpp

@@ -155,8 +155,8 @@ class GpioToolController : public controller_interface::ControllerInterface
   std::unordered_set<std::string> command_if_ios_;
   std::unordered_set<std::string> state_if_ios_;
 
-  using EngagingSrvType = example_interfaces::srv::Trigger;
-  using ResetSrvType = example_interfaces::srv::Trigger;
+  using EngagingSrvType = std_srvs::srv::Trigger;
+  using ResetSrvType = std_srvs::srv::Trigger;
   using ConfigSrvType = control_msgs::srv::SetGPIOToolConfig;
   using DynInterfaceMsg = control_msgs::msg::DynamicInterfaceValues;
   using EngagingActionType = control_msgs::action::GPIOToolCommand;
@@ -273,13 +273,6 @@ class GpioToolController : public controller_interface::ControllerInterface
   rclcpp_action::CancelResponse handle_engaging_cancel(
     std::shared_ptr<rclcpp_action::ServerGoalHandle<EngagingActionType>> goal_handle);
 
-  /**
-   * @brief Handles the accepted goal for the tool action.
-   * @param goal_handle The handle of the accepted goal.
-   */
-  void handle_engaging_accepted(
-    std::shared_ptr<rclcpp_action::ServerGoalHandle<EngagingActionType>> goal_handle);
-
   /**
    * @brief Handles the goal for the gripper configuration action.
    * @param uuid The UUID of the goal.

gpio_controllers/src/gpio_tool_controller.cpp

@@ -1099,12 +1099,6 @@ rclcpp_action::CancelResponse GpioToolController::handle_engaging_cancel(
   return rclcpp_action::CancelResponse::ACCEPT;
 }
 
-void GpioToolController::handle_engaging_accepted(
-  std::shared_ptr<rclcpp_action::ServerGoalHandle<EngagingActionType>> goal_handle)
-{
-  handle_action_accepted<EngagingActionType>(goal_handle);
-}
-
 rclcpp_action::GoalResponse GpioToolController::handle_config_goal(
   const rclcpp_action::GoalUUID & /*uuid*/, std::shared_ptr<const ConfigActionType::Goal> goal)
 {
@@ -1140,13 +1134,15 @@ void GpioToolController::handle_action_accepted(
     if (current_tool_action_.load() == ToolAction::IDLE)
     {
       result->success = true;
+      result->resulting_state_name = current_state_;
       result->message = "Tool action successfully executed!";
       goal_handle->succeed(result);
       break;
     }
     else if (current_tool_transition_.load() == GPIOToolTransition::HALTED)
     {
       result->success = false;
+      result->resulting_state_name = current_state_;
       result->message = "Tool action canceled or halted! Check the error, reset the tool using '~/reset_halted' service and set to sensible state.";
       goal_handle->abort(result);
       break;