rclpy
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ros2
Allow action servers without execute callback
Just like rclcpp and ros1, allow action servers without execute callback.
Example like:
- Display a message until a button is pressed
- Actuate a motor until an endstop is reached
are typical cases where an action is succeeded based on information outside of the execute_cb.
It makes more sense to succeed these from outside the execute_cb in this case. And this would be in line with ros1 and rclcpp where this is possible.
I kept the execute_callback in args for backwards compatibility.
Sorry for subtle bump again, but Jade is coming up. And I'm afraid breaking changes won't be accepted anymore soon.
@clalancette @sloretz @ahcorde either of you, can you take a look at this? i think this is reasonable and more flexibility for rclpy client.
@Timple can you rebase this to rolling? almost 100 commits are behind.
@Timple can you rebase this to rolling? almost 100 commits are behind.
Done!
This pull request has been mentioned on ROS Discourse. There might be relevant details there:
https://discourse.ros.org/t/upcoming-feature-freeze-for-ros-2-jazzy-jalisco-on-15th-april-2024/37075/2
So I missed the jazzy release :crying_cat_face:
But this PR had some proper traction. Can we still get this in rolling?
If everybody is very busy doing release stuff for jazzy, I also fully understand. Then I'll apply some sort of exponential backoff to my pings :slightly_smiling_face:
@Timple sorry we missed this to jazzy. i will start the CI.
CC: @sloretz