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  • Add ACCEPT_AND_EXECUTE/ACCEPT_AND_DEFER to the result of the goal callback
  • Transition from accepted to executing if ACCEPT_AND_EXECUTE was returned.

This is one of the things missing in the action server implementation.

…lback, transition from accepted to executing if ACCEPT_AND_EXECUTE was returned

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno ivanpauno added the enhancement New feature or request label Apr 9, 2021
@ivanpauno ivanpauno self-assigned this Apr 9, 2021
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One question, otherwise LGTM

I guess something changed on Rolling that causing CI to fail now..

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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LGTM, I think you can merge without CI since it appears to be broken for some other reason.

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mmm, I will investigate this failure locally

4 - rcljava_tests_org.ros2.rcljava.action.ActionServerTest (Failed)

just in case

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That test failure was unrelated as well, I will open a PR to fix it.

@ivanpauno ivanpauno merged commit e3842d8 into galactic-devel Apr 13, 2021
@ivanpauno ivanpauno deleted the ivanpauno/as-transition-accepted-executing branch April 13, 2021 19:55
ivanpauno added a commit that referenced this pull request May 17, 2021
* Add ACCEPT_AND_EXECUTE/ACCEPT_AND_DEFER to the result of an action goal callback.

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

* Automatically transition from accepted to executing if ACCEPT_AND_EXECUTE was returned.

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

* Expose an "execute()" method in goal callback.

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
jacobperron pushed a commit to ros2-java/ros2_java that referenced this pull request May 17, 2022
* Add ACCEPT_AND_EXECUTE/ACCEPT_AND_DEFER to the result of an action goal callback.

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

* Automatically transition from accepted to executing if ACCEPT_AND_EXECUTE was returned.

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

* Expose an "execute()" method in goal callback.

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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3 participants