Change test to work with Foxy and posterior action API #111
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Contributor
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I've tackled it with the following change: 63de3d9 However, as discussed, we are exclusively targeting Foxy, so I don't see a need to deviate from the Foxy API until the Galactic release. |
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Member
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@v-lopez shall we follow up on this? |
Contributor
Author
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I'm swamped for the next months, but yeah we should eventually check this. |
Member
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@tylerjw will be working on re-creating this against the latest master |
Contributor
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I successfully rebased this PR here: #237. Lmk if there are any changes I should make to it. I think the clang-format may have changed and that resulted in the merge conflict when I cherry-picked it. I think I got that fixed. |
Member
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Thanks for taking care of this @tylerjw |
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This PR ros2/rclcpp#1311 fixed a bug in rclcpp_action but had to change API for that, the Foxy API remains the same.
I haven't found a way to have specify a
goal_response_callbackcompatible with both API versions, so instead I use the future obtained after sending the goal, so we don't have to branch the code for a test.