ROS Actions

[jacobperron]

This ticket is to track adding support for ROS actions to ros2_java.

Some early work related to code generation for actions was done in #66, #76, and #108. There has also been some work done towards the action client (discussed in https://github.com/ros2-java/ros2_java/issues/82#issuecomment-635995720).

I think we can break this task into two parts:

• [ ] Action server implementation
  • [ ] Access Node clock (https://github.com/ros2-java/ros2_java/pull/139)
  • [ ] Fixes to action code generation (https://github.com/ros2-java/ros2_java/pull/140)
• [ ] Action client implementation

Additional resources:

• ROS 2 action design
• C++ implementation
• Python implementation

[jacobperron]

@nielstiben Sorry for the delay, but I'm ready to tackle action support now. I'll start by implementing the action server. Do you mind opening a PR to the dashing branch containing the work you've done so far for the action client? I can help troubleshoot any issues you have, or take over where you left off if you don't have the bandwidth to work on it.

[jacobperron]

I've opened a couple PRs that are prerequisites for the action server implementation I have:

• Access Node clock (https://github.com/ros2-java/ros2_java/pull/139)
• Fixes to action code generation (https://github.com/ros2-java/ros2_java/pull/140)

[jacobperron]

An implementation for the Action Server was added to our fork in https://github.com/osrf/ros2_java/pull/65. We will add it upstream to the main branch soon.

[marlow-fawn]

Any updates on this? Would love actions in the main branch.