Support actions in rosbridge protocol #886
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EzraBrooks
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Nov 2, 2023
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EzraBrooks
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The code seems sensical to me and you obviously did your legwork w/r/t testing here. I say we merge so we can start work on the client side and fix any issues found in smaller, more targeted PRs.
This was referenced Jan 24, 2024
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This was referenced Feb 19, 2024
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Description
This PR adds ROS 2 action support to the rosbridge protocol, using the actual
rclpy.actionmodule instead of relying on hidden topics/services.Public API Changes
Nothing changes the existing API, but instead adds a collection of new capabilities based on action servers/clients. See the corresponding doc changes here.
Also adds a
send_action_goals_in_new_threadparameter to match what was done for services.Note in developing this I found ros2/rclpy#1195, which is stopping some of the actions tests from being runnable right now.
Closes #697