Actions

Owned by Daniel Stonier
Last updated: Apr 26, 2019
1 min read


Resources

Snipped

Introspection

An action's services and topics are hidden.

$ ros2 node info /docking_controller
/docking_controller
  Publishers:
    /docking_controller/_action/feedback: py_trees_ros_interfaces/Dock_Feedback
    /docking_controller/_action/status: action_msgs/GoalStatusArray
  Services:
    /docking_controller/_action/cancel_goal: action_msgs/CancelGoal
    /docking_controller/_action/get_result: py_trees_ros_interfaces/Dock_Result
    /docking_controller/_action/send_goal: py_trees_ros_interfaces/Dock_Goal

Questions/Problems

In order of criticality...

  • Action Msgs is a Magic Dependency for Action Interfaces: baffling errors due to requiring an indirect dependency rcl_interfaces#75
  • Poor Execute Failure Feedback: hang and only report somewhat unusefully on CTRL-C (rclpy#296)