Backport: Implement action generic client (#2759) #3017
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Backport from rolling to jazzy. This adds GenericClient for rclcpp_action, which allows creating action clients without compile-time knowledge of the action type. New files added: - generic_client.hpp/cpp - generic_client_goal_handle.hpp/cpp - create_generic_client.hpp/cpp - client_base.hpp (wrapper for jazzy compatibility) - test_generic_client.cpp Note: On jazzy, ClientBase remains in client.hpp (not separated). client_base.hpp is a compatibility wrapper that includes client.hpp. Original PR: ros2#2759 Signed-off-by: Barry Xu <[email protected]>
Add local implementation of get_action_typesupport_handle() which is not available in jazzy's rclcpp (only in rolling). Signed-off-by: Koki Shinjo <[email protected]>
kshinjo-pfr
force-pushed
the
backport/jazzy/generic-action-client
branch
from
6cb6160 to
875289f
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Backport of #2759 from rolling to jazzy.
This adds
GenericClientforrclcpp_action, which allows creating action clients without compile-time knowledge of the action type.Is this user-facing behavior change?
Yes. Users can now create action clients dynamically without compile-time knowledge of the action type using
rclcpp_action::create_generic_client().Did you use Generative AI?
Yes. Claude Code (Claude Opus 4.5) was used to assist with:
get_action_typesupport_handle()functionclient_base.hppcompatibility wrapperAdditional Information
Test results:
colcon build --packages-select rclcpp_actionpassescolcon test --packages-select rclcpp_actionpasses (252 tests, 0 failures)Dependencies:
This backport is self-contained and does not require backporting #2750 (action typesupport helper) because
get_action_typesupport_handle()is implemented locally increate_generic_client.cpp.