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Deprecate ClientGoalHandle::async_result() #1120

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merged 1 commit into from May 21, 2020

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@jacobperron jacobperron commented May 19, 2020

Fixes #955

There are currently two public APIs for users to get the result of a goal.
This change deprecates one of the APIs, which was considered to be unsafe as
it may result in a race with user-code and raise an exception.

Fixes #955

There are currently two public APIs for users to get the result of a goal.
This change deprecates one of the APIs, which was considered to be unsafe as
it may result in a race with user-code and raise an exception.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron jacobperron added this to In progress in Foxy via automation May 19, 2020
@jacobperron jacobperron moved this from In progress to Review in progress in Foxy May 19, 2020
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@wjwwood wjwwood left a comment

lgtm, make sure to test up the stack in case it is being used in an example or something.

Foxy automation moved this from Review in progress to Reviewer approved May 19, 2020
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jacobperron commented May 19, 2020

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

Edit: The only "new" test failure I see is on Linux

"ros2topic.src.ros2.ros2cli.ros2topic.test.test_echo_pub.test_echo_pub"

But I find it extremely unlikely that a change to rclcpp_action would cause ros2topic to misbehave. I think this change is okay to merge, pending a second reviewer.

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jacobperron commented May 20, 2020

@ros-pull-request-builder retest this please

@jacobperron jacobperron merged commit 64bdef6 into master May 21, 2020
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Foxy automation moved this from Reviewer approved to Done May 21, 2020
@delete-merged-branch delete-merged-branch bot deleted the jacob/deprecate_action_api branch May 21, 2020
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jacobperron commented May 21, 2020

Release note added for Foxy: ros2/ros2_documentation#707

DensoADAS pushed a commit to DensoADAS/rclcpp that referenced this pull request Jul 7, 2020
Fixes ros2#955

There are currently two public APIs for users to get the result of a goal.
This change deprecates one of the APIs, which was considered to be unsafe as
it may result in a race with user-code and raise an exception.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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rclcpp_action: async_send_goal makes the goal handle available to caller before making it result aware
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