checkin

Author: esteve

examples/minimal_action_server/src/minimal_action_server.rs

@@ -76,5 +76,12 @@ fn main() -> Result<(), Error> {
         handle_accepted,
     );
 
+    let _action_server = node.create_action_server::<example_interfaces::action::Fibonacci>(
+        "fibonacci",
+        handle_goal,
+        handle_cancel,
+        handle_accepted,
+    );
+
     rclrs::spin(node).map_err(|err| err.into())
 }

rclrs/src/lib.rs

@@ -42,6 +42,8 @@ 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

@@ -14,9 +14,9 @@ pub use self::graph::*;
 use crate::rcl_bindings::*;
 use crate::{
     ActionClient, ActionServer, CancelResponse, Client, ClientBase, Clock, Context, GoalResponse,
-    GoalUUID, GuardCondition, ParameterInterface, ParameterVariant, Parameters, Publisher,
-    QoSProfile, RclrsError, ServerGoalHandle, Service, ServiceBase, Subscription, SubscriptionBase,
-    SubscriptionCallback, TimeSource, ToResult,
+    GoalUUID, GuardCondition, ParameterBuilder, ParameterInterface, ParameterVariant, Parameters,
+    Publisher, QoSProfile, RclrsError, ServerGoalHandle, Service, ServiceBase, Subscription,
+    SubscriptionBase, SubscriptionCallback, TimeSource, ToResult,
 };
 
 impl Drop for rcl_node_t {