From 732bf5cb409b875d87c296a6ebaf78c62cc6fb7a Mon Sep 17 00:00:00 2001 From: Jacob Perron Date: Mon, 21 Sep 2020 11:48:23 -0700 Subject: [PATCH] Add note about rclcpp_action API change in Galactic Related PR: https://github.com/ros2/rclcpp/pull/1311 Signed-off-by: Jacob Perron --- .../Releases/Release-Galactic-Geochelone.rst | 22 +++++++++++++++++++ 1 file changed, 22 insertions(+) diff --git a/source/Releases/Release-Galactic-Geochelone.rst b/source/Releases/Release-Galactic-Geochelone.rst index f1b46a050e..168406b439 100644 --- a/source/Releases/Release-Galactic-Geochelone.rst +++ b/source/Releases/Release-Galactic-Geochelone.rst @@ -75,6 +75,28 @@ Change in default ``/clock`` subscription QoS profile The default was changed from a reliable communication with history depth 10 to a best effort communication with history depth 1. See `ros2/rclcpp#1312 `_. +rclcpp_action +^^^^^^^^^^^^^ + +Action client goal response callback signature changed +"""""""""""""""""""""""""""""""""""""""""""""""""""""" + +The goal response callback should now take a shared pointer to a goal handle, instead of a future. + +For `example `_, old signature: + +.. code-block:: c++ + + void goal_response_callback(std::shared_future future) + +New signature: + +.. code-clock:: c++ + + void goal_response_callback(GoalHandleFibonacci::SharedPtr goal_handle) + +Related PR: `ros2/rclcpp#1311 `_ + Known Issues ------------