Address review comments

Signed-off-by: Barry Xu <[email protected]>

Author: Barry-Xu-2018

ros2action/ros2action/verb/echo.py

@@ -86,9 +86,6 @@ def add_arguments(self, parser, cli_name):
                  'multiple action interfaces. Action interfaces include "GOAL_SERVICE", '
                  '"CANCEL_SERVICE", "RESULT_SERVICE", "FEEDBACK_TOPIC" and "STATUS_TOPIC". '
                  'If this option is not set, output messages from all interfaces of the action.')
-        parser.add_argument(
-            '--queue-size', '-q', type=unsigned_int, default=100,
-            help='The length of output message queue. The default is 100.')
         parser.add_argument(
             '--csv', action='store_true', default=False,
             help=(
@@ -142,7 +139,7 @@ def main(self, *, args):
                 raise RuntimeError(f"The service type '{args.action_type}' is invalid")
 
         if action_module is None:
-            raise RuntimeError('Could not load the type for the passed action')
+            raise RuntimeError(f"Could not load the action type for '{args.action_type}'")
 
         self.csv = args.csv
         self.truncate_length = args.truncate_length if not args.full_length else None
@@ -165,8 +162,9 @@ def main(self, *, args):
         status_topic = args.action_name + '/_action/status'
         status_topic_type = action_module.Impl.GoalStatusMessage
 
-        # Queue for messages from above topic
-        self.output_msg_queue = queue.Queue(args.queue_size)
+        # Queue for messages from above topic. The queue size is set to 100.
+        # If the queue is full, the message will be dropped.
+        self.output_msg_queue = queue.Queue(100)
 
         run_thread = True
         # Create a thread to output message from output_queue
@@ -184,6 +182,9 @@ def message_handler():
 
         with NodeStrategy(args) as node:
             send_goal_event_sub = None
+            # TODO: The QoS for the service event publisher, feedback publisher and status
+            # publisher can be specified by the user, so new parameters need to be added to allow
+            # specifying QoS of subscription to replace the current fixed QoS.
             if ActionInterfaces.GOAL_SERVICE.value in output_interface_list:
                 send_goal_event_sub: Subscription[EventMessage] = node.create_subscription(
                         send_goal_event_msg_type,

ros2action/test/fixtures/fibonacci_action_introspection.py

@@ -59,6 +59,8 @@ class FibonacciActionClient(Node):
     def __init__(self):
         super().__init__('fibonacci_action_client', namespace='/test')
         self._action_client = ActionClient(self, Fibonacci, 'fibonacci')
+        self._action_client.configure_introspection(
+            self.get_clock(), qos_profile_system_default, ServiceIntrospectionState.CONTENTS)
         self._timer = self.create_timer(2, self._timer_callback)
 
     def _timer_callback(self):
@@ -95,7 +97,6 @@ def goal_response_callback(self, future):
     def get_result_callback(self, future):
         result = future.result().result
         self.get_logger().info('Result: {0}'.format(result.sequence))
-        # rclpy.shutdown()
 
     def feedback_callback(self, feedback_msg):
         feedback = feedback_msg.feedback

ros2action/test/test_echo.py

@@ -110,6 +110,21 @@ def test_echo(self):
 
         # Define the desired output message block.
         expected_output = [
+            [
+                'interface: GOAL_SERVICE',
+                'info:',
+                '  event_type: REQUEST_SENT',
+                '  stamp:',
+                re.compile(r'    sec: \d+'),
+                re.compile(r'    nanosec: \d+'),
+                "  client_gid: '<array type: uint8[16]>'",
+                re.compile(r'  sequence_number: \d+'),
+                "request: '<sequence type: test_msgs/action/Fibonacci_SendGoal_Request[1], "
+                "length: 1>'",
+                "response: '<sequence type: test_msgs/action/Fibonacci_SendGoal_Response[1], "
+                "length: 0>'",
+                '---',
+            ],
             [
                 'interface: GOAL_SERVICE',
                 'info:',
@@ -140,6 +155,21 @@ def test_echo(self):
                 "length: 1>'",
                 '---',
             ],
+            [
+                'interface: GOAL_SERVICE',
+                'info:',
+                '  event_type: RESPONSE_RECEIVED',
+                '  stamp:',
+                re.compile(r'    sec: \d+'),
+                re.compile(r'    nanosec: \d+'),
+                "  client_gid: '<array type: uint8[16]>'",
+                re.compile(r'  sequence_number: \d+'),
+                "request: '<sequence type: test_msgs/action/Fibonacci_SendGoal_Request[1], "
+                "length: 0>'",
+                "response: '<sequence type: test_msgs/action/Fibonacci_SendGoal_Response[1], "
+                "length: 1>'",
+                '---',
+            ],
             [
                 'interface: STATUS_TOPIC',
                 "status_list: '<sequence type: action_msgs/msg/GoalStatus, length: 1>'",