checkin

Author: esteve

examples/minimal_action_client/src/minimal_action_client.rs

@@ -5,7 +5,7 @@ use anyhow::{Error, Result};
 fn main() -> Result<(), Error> {
     let context = rclrs::Context::new(env::args())?;
 
-    let mut node = rclrs::create_node(&context, "minimal_client")?;
+    let node = rclrs::create_node(&context, "minimal_client")?;
 
     let _client =
         node.create_action_client::<example_interfaces::action::Fibonacci>("fibonacci")?;

examples/minimal_action_server/src/minimal_action_server.rs

@@ -76,5 +76,5 @@ fn main() -> Result<(), Error> {
         handle_accepted,
     );
 
-    rclrs::spin(&node).map_err(|err| err.into())
+    rclrs::spin(node).map_err(|err| err.into())
 }

rclrs/src/lib.rs

@@ -38,8 +38,6 @@ pub use node::*;
 pub use parameter::*;
 pub use publisher::*;
 pub use qos::*;
-use rcl_bindings::rcl_context_is_valid;
-use rcl_bindings::rcl_action_goal_handle_t;
 pub use rcl_bindings::rmw_request_id_t;
 pub use service::*;
 pub use subscription::*;

rclrs/src/node.rs

@@ -195,7 +195,7 @@ impl Node {
     /// [1]: crate::ActionClient
     // TODO: make action client's lifetime depend on node's lifetime
     pub fn create_action_client<T>(
-        &mut self,
+        &self,
         topic: &str,
     ) -> Result<Arc<ActionClient<T>>, RclrsError>
     where