add rcl_action_client_options when creating action client.

rclcpp/include/rclcpp/publisher.hpp

@@ -68,7 +68,7 @@ class Publisher : public PublisherBase
    * \param[in] node_base NodeBaseInterface pointer that is used in part of the setup.
    * \param[in] topic Name of the topic to publish to.
    * \param[in] qos QoS profile for Subcription.
-   * \param[in] options options for the subscription.
+   * \param[in] options Options for the subscription.
    */
   Publisher(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,

rclcpp/include/rclcpp/subscription.hpp

@@ -92,7 +92,7 @@ class Subscription : public SubscriptionBase
    * \param[in] topic_name Name of the topic to subscribe to.
    * \param[in] qos QoS profile for Subcription.
    * \param[in] callback User defined callback to call when a message is received.
-   * \param[in] options options for the subscription.
+   * \param[in] options Options for the subscription.
    * \param[in] message_memory_strategy The memory strategy to be used for managing message memory.
    * \param[in] subscription_topic_statistics pointer to a topic statistics subcription.
    * \throws std::invalid_argument if the QoS is uncompatible with intra-process (if one

rclcpp/include/rclcpp/subscription_base.hpp

@@ -66,7 +66,7 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
    * \param[in] node_base NodeBaseInterface pointer used in parts of the setup.
    * \param[in] type_support_handle rosidl type support struct, for the Message type of the topic.
    * \param[in] topic_name Name of the topic to subscribe to.
-   * \param[in] subscription_options options for the subscription.
+   * \param[in] subscription_options Options for the subscription.
    * \param[in] is_serialized is true if the message will be delivered still serialized
    */
   RCLCPP_PUBLIC

rclcpp_action/include/rclcpp_action/client.hpp

@@ -130,7 +130,7 @@ class ClientBase : public rclcpp::Waitable
     rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
     const std::string & action_name,
     const rosidl_action_type_support_t * type_support,
-    const rcl_action_client_options_t & options);
+    const rcl_action_client_options_t & options = rcl_action_client_get_default_options());
 
   /// Wait for action_server_is_ready() to become true, or until the given timeout is reached.
   RCLCPP_ACTION_PUBLIC
@@ -317,7 +317,7 @@ class Client : public ClientBase
     rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
     rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
     const std::string & action_name,
-    const rcl_action_client_options_t client_options = rcl_action_client_get_default_options()
+    const rcl_action_client_options_t & client_options = rcl_action_client_get_default_options()
   )
   : ClientBase(
       node_base, node_graph, node_logging, action_name,

rclcpp_action/include/rclcpp_action/create_client.hpp

@@ -37,6 +37,7 @@ namespace rclcpp_action
  * \param[in] name The action name.
  * \param[in] group The action client will be added to this callback group.
  *   If `nullptr`, then the action client is added to the default callback group.
+ * \param[in] options Options to pass to the underlying `rcl_action_client_t`.
  */
 template<typename ActionT>
 typename Client<ActionT>::SharedPtr
@@ -46,7 +47,8 @@ create_client(
   rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
   rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_interface,
   const std::string & name,
-  rclcpp::CallbackGroup::SharedPtr group = nullptr)
+  rclcpp::CallbackGroup::SharedPtr group = nullptr,
+  const rcl_action_client_options_t & options = rcl_action_client_get_default_options())
 {
   std::weak_ptr<rclcpp::node_interfaces::NodeWaitablesInterface> weak_node =
     node_waitables_interface;
@@ -83,7 +85,8 @@ create_client(
       node_base_interface,
       node_graph_interface,
       node_logging_interface,
-      name),
+      name,
+      options),
     deleter);
 
   node_waitables_interface->add_waitable(action_client, group);
@@ -96,21 +99,24 @@ create_client(
  * \param[in] name The action name.
  * \param[in] group The action client will be added to this callback group.
  *   If `nullptr`, then the action client is added to the default callback group.
+ * \param[in] options Options to pass to the underlying `rcl_action_client_t`.
  */
 template<typename ActionT, typename NodeT>
 typename Client<ActionT>::SharedPtr
 create_client(
   NodeT node,
   const std::string & name,
-  rclcpp::CallbackGroup::SharedPtr group = nullptr)
+  rclcpp::CallbackGroup::SharedPtr group = nullptr,
+  const rcl_action_client_options_t & options = rcl_action_client_get_default_options())
 {
   return rclcpp_action::create_client<ActionT>(
     node->get_node_base_interface(),
     node->get_node_graph_interface(),
     node->get_node_logging_interface(),
     node->get_node_waitables_interface(),
     name,
-    group);
+    group,
+    options);
 }
 }  // namespace rclcpp_action
 

rclcpp_action/include/rclcpp_action/create_server.hpp

@@ -49,7 +49,7 @@ namespace rclcpp_action
  *  The return from this callback only indicates if the server will try to cancel a goal.
  *  It does not indicate if the goal was actually canceled.
  * \param[in] handle_accepted A callback that is called to give the user a handle to the goal.
- * \param[in] options options to pass to the underlying `rcl_action_server_t`.
+ * \param[in] options Options to pass to the underlying `rcl_action_server_t`.
  * \param group[in] The action server will be added to this callback group.
  *   If `nullptr`, then the action server is added to the default callback group.
  */
@@ -124,7 +124,7 @@ create_server(
  *  The return from this callback only indicates if the server will try to cancel a goal.
  *  It does not indicate if the goal was actually canceled.
  * \param[in] handle_accepted A callback that is called to give the user a handle to the goal.
- * \param[in] options options to pass to the underlying `rcl_action_server_t`.
+ * \param[in] options Options to pass to the underlying `rcl_action_server_t`.
  * \param group[in] The action server will be added to this callback group.
  *   If `nullptr`, then the action server is added to the default callback group.
  */

rclcpp_action/include/rclcpp_action/server.hpp

@@ -296,7 +296,7 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
    * \param[in] name the name of an action.
    *  The same name and type must be used by both the action client and action server to
    *  communicate.
-   * \param[in] options options to pass to the underlying `rcl_action_server_t`.
+   * \param[in] options Options to pass to the underlying `rcl_action_server_t`.
    * \param[in] handle_goal a callback that decides if a goal should be accepted or rejected.
    * \param[in] handle_cancel a callback that decides if a goal should be attemted to be canceled.
    *  The return from this callback only indicates if the server will try to cancel a goal.

rclcpp_action/test/test_client.cpp

@@ -274,14 +274,16 @@ TEST_F(TestClient, construction_and_destruction_callback_group)
 {
   auto group = client_node->create_callback_group(
     rclcpp::CallbackGroupType::MutuallyExclusive);
+  const rcl_action_client_options_t & options = rcl_action_client_get_default_options();
   ASSERT_NO_THROW(
     rclcpp_action::create_client<ActionType>(
       client_node->get_node_base_interface(),
       client_node->get_node_graph_interface(),
       client_node->get_node_logging_interface(),
       client_node->get_node_waitables_interface(),
       action_name,
-      group
+      group,
+      options
     ).reset());
 }