Jacob Perron

I think this is a use-case for the deadline and/or liveliness quality of service settings ([described in this pending PR](https://github.com/ros2/design/pull/212)). If your application requires a timely response from the service...

> So, am I correct in assuming the only way to detect this scenario is for the client to send a request and then wait a certain period of time...

Galactic backport: #795 Foxy backport: #796

Thanks for the contribution!

> I'd be for just switching it from an action to a service and putting a release note in place. @ros2/team, thoughts? +1

I just took a brief look, but it doesn't look like the `rclpy` executor API supports callback groups (please correct me if I'm mistaken). I've opened a ticket upstream https://github.com/ros2/rclpy/issues/850.

Perhaps _runtime_ in the title is a misnomer. I am proposing we make the cache time configurable at startup time (at the very least). I'm not actually sure if we...

This question came up when I was porting the C++ buffer action client and server. The answer I got was that actions have the benefit of being preempt-able. E.g. a...

I just noticed that there isn't an API exposed to cancel a goal in the C++ implementation :man_shrugging:

As a regression test, I've added a new field to one of the test messages: https://github.com/ros2/test_interface_files/pull/16