new create action server functions

Author: mgonzs13

simple_node/include/simple_node/node.hpp

@@ -63,6 +63,26 @@ class Node : public rclcpp::Node {
     return action_server;
   }
 
+  template <typename ActionT>
+  typename std::shared_ptr<actions::ActionSingleServer<ActionT>>
+  create_action_server(
+      std::string action_name,
+      std::function<
+          void(std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>>)>
+          execute_callback,
+      std::function<void()> cancel_callback) {
+
+    rclcpp::CallbackGroup::SharedPtr group = nullptr;
+
+    std::shared_ptr<actions::ActionSingleServer<ActionT>> action_server(
+        new actions::ActionSingleServer<ActionT>(
+            this, action_name, execute_callback, cancel_callback),
+        this->create_action_deleter<rclcpp_action::Server<ActionT>>(group));
+
+    this->get_node_waitables_interface()->add_waitable(action_server, group);
+    return action_server;
+  }
+
   template <typename ActionT>
   typename std::shared_ptr<actions::ActionQueueServer<ActionT>>
   create_action_queue_server(
@@ -82,6 +102,26 @@ class Node : public rclcpp::Node {
     return action_server;
   }
 
+  template <typename ActionT>
+  typename std::shared_ptr<actions::ActionQueueServer<ActionT>>
+  create_action_queue_server(
+      std::string action_name,
+      std::function<
+          void(std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>>)>
+          execute_callback,
+      std::function<void()> cancel_callback) {
+
+    rclcpp::CallbackGroup::SharedPtr group = nullptr;
+
+    std::shared_ptr<actions::ActionQueueServer<ActionT>> action_server(
+        new actions::ActionQueueServer<ActionT>(
+            this, action_name, execute_callback, cancel_callback),
+        this->create_action_deleter<rclcpp_action::Server<ActionT>>(group));
+
+    this->get_node_waitables_interface()->add_waitable(action_server, group);
+    return action_server;
+  }
+
 private:
   rclcpp::Executor *executor;
   std::thread *spin_thread;