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Merged
jacobperron merged 2 commits into from
Sep 21, 2020
Merged

Add note about rclcpp_action API change in Galactic #871

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Add note about rclcpp_action API change in Galactic
jacobperron Sep 21, 2020
a0eafa3
Fix typo
jacobperron Sep 21, 2020
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22 changes: 22 additions & 0 deletions source/Releases/Release-Galactic-Geochelone.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,28 @@ Change in default ``/clock`` subscription QoS profile
The default was changed from a reliable communication with history depth 10 to a best effort communication with history depth 1.
See `ros2/rclcpp#1312 <https://github.com/ros2/rclcpp/pull/1312>`_.

rclcpp_action
^^^^^^^^^^^^^

Action client goal response callback signature changed
""""""""""""""""""""""""""""""""""""""""""""""""""""""

The goal response callback should now take a shared pointer to a goal handle, instead of a future.

For `example <https://github.com/ros2/examples/pull/291>`_, old signature:

.. code-block:: c++

void goal_response_callback(std::shared_future<GoalHandleFibonacci::SharedPtr> future)

New signature:

.. code-block:: c++

void goal_response_callback(GoalHandleFibonacci::SharedPtr goal_handle)

Related PR: `ros2/rclcpp#1311 <https://github.com/ros2/rclcpp/pull/1311>`_

Known Issues
------------

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