ros2
ROS2 Action Server getting info of the client node name and the goal priority
Description
Hello!
Thank you all for such great work. Most of the times in real applications, the action server should show different behaviour depending on the type of the node, for instance, an emergency movement in joints should prevail any motion it is executing or any motion it will receive in future. However, there is no clear line of priority setting in the goals, and i believe it shouldn't be particular to a specific action. If not, most of the released packages needed to be modified inorder to handle this kind of functionality.
Regarding the node name, it would be interesting for the action server to know from whom it is receiving the goal, this information can be used by the server to accept or reject goals. For instance, I want only authorized applications be able to send goals to the hardware and not anyone, inorder to avoid any uncontrolled movements
Motivation
The motivation is for the hardware based ros2 controllers the action server will need to handle the resource sharing and this way it can give critical applications more preference than any kind of application sending random movement (or) a robot performing human robot interaction and then it being preempted as navigation needs the head of the robot. These kind of cases are pretty usual in any application.
I would like to hear your views.
Thank you
Design / Implementation Considerations
No response
Additional Information
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