separating ActionServer implementation into base class and ros-publisher-based class #11
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+1 to separate the core logic from the ROS pub/sub-ing!. |
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+1 to ROS independent actionserver. |
dirk-thomas
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Aug 14, 2013
separating ActionServer implementation into base class and ros-publisher-based class
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Thank you - nice patch. Merged. |
severin-lemaignan
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Aug 18, 2014
Changes since 1.9.12: 1.11.2 (2014-05-20) ------------------- * Update python publishers to define queue_size. * Use the correct queue for processing MessageEvents * Contributors: Esteve Fernandez, Michael Ferguson, Nican 1.11.1 (2014-05-08) ------------------- * Fix uninitialised execute_thread_ member pointer * Make rostest in CMakeLists optional * Use catkin_install_python() to install Python scripts * Contributors: Dirk Thomas, Esteve Fernandez, Jordi Pages, Lukas Bulwahn 1.11.0 (2014-02-13) ------------------- * replace usage of __connection_header with MessageEvent (`#20 <https://github.com/ros/actionlib/issues/20>`_) 1.10.3 (2013-08-27) ------------------- * Merged pull request `#15 <https://github.com/ros/actionlib/issues/15>`_ Fixes a compile issue for actionlib headers on OS X 1.10.2 (2013-08-21) ------------------- * separating ActionServer implementation into base class and ros-publisher-based class (`#11 <https://github.com/ros/actionlib/issues/11>`_) * support CATKIN_ENABLE_TESTING * add isValid to ServerGoalHandle (`#14 <https://github.com/ros/actionlib/issues/14>`_) * make operators const (`#10 <https://github.com/ros/actionlib/issues/10>`_) * add counting of connections to avoid reconnect problem when callbacks are invoked in different order (`#7 <https://github.com/ros/actionlib/issues/7>`_) * fix deadlock in simple_action_server.py (`#4 <https://github.com/ros/actionlib/issues/4>`_) * fix missing runtime destination for library (`#3 <https://github.com/ros/actionlib/issues/3>`_) 1.10.1 (2013-06-06) ------------------- * fix location of library before installation (`#1 <https://github.com/ros/actionlib/issues/1>`_) 1.10.0 (2013-04-11) ------------------- * define DEPRECATED only if not defined already * modified dependency type of catkin to buildtool
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Currently, if one wants to implement an action server in an environment with the same datatypes but a different transport mechanism (like in orocos) then one has to re-implement the entire actionserver interface (see: oro_action_server )
This instead separates the ActionServer class into ActionServerBase and ActionServer, where ActionServerBase handles callback routing with the goal handles, and ActionServer handles the actual publishing of data over ROS topics.
@konradb3