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Actions support in rclnodejs #469

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minggangw opened this issue Mar 11, 2019 · 2 comments · Fixed by #630
Closed

Actions support in rclnodejs #469

minggangw opened this issue Mar 11, 2019 · 2 comments · Fixed by #630
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@minggangw
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@minggangw minggangw self-assigned this Mar 11, 2019
@minggangw minggangw mentioned this issue Jun 26, 2019
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@minggangw minggangw mentioned this issue Jan 16, 2020
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@minggangw minggangw removed their assignment Jan 29, 2020
@minggangw
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I spent half a day to dig into this feature and found it's more difficult than I thought which means we need more effort on it. An official introduction of Actions in ROS2

@mattrichard
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mattrichard commented Feb 17, 2020 •
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Here's a breakdown of the work that needs to be done.

@mattrichard mattrichard self-assigned this Mar 7, 2020
@mattrichard mattrichard mentioned this issue Mar 26, 2020
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minggangw pushed a commit that referenced this issue Mar 26, 2020
@mattrichard
Add actions support to rclnodejs (#630)
95729f9 
* Add actions branch to CI (#572)

Fix #None

* Add actions to the event loop (#570)

Adds action clients and servers into the event loop. You can't add action client/servers right now so this change essentially does nothing.

Actions present an interesting problem where not only do you need to know if the handle is ready, but you also need to know what to execute within the handle. rclpy abstracts actions with a Waitable base class and lets the sub-class fill in the details of reading from the wait_set. This approach doesn't fit in with the design of rclnodejs, so instead actions are treated as entities, similar to publishers, subscribers, etc, but with some special handling.

To know what part of the action server/client should be processed a property bag has added to RclHandle allowing the event loop to attach arbitrary data to be sent back to the main thread. The property bag could be extended in the future if ever needed by other entity types.

Below is how the property bag would be used in later PRs.

```javascript
// From Node class
execute(handles) {
  let actionServersReady = this._actionServers.filter((actionServer) =>
      handles.indexOf(actionServer.handle) !== -1);

  // ...

  actionServersReady.forEach((actionServer) => {
    // Read the properties from the handle
    let properties = actionServer.handle.properties;

    if (properties.isGoalRequestReady) {
      // process goal request
    }

    if (properties.isCancelRequestReady) {
      // process cancel request
    }

    // process other requests
  }
}
```

Note this PR is targeting the 'actions' branch.

* Read action type support (#571)

Adds the utility functions to read from the action type support libraries.

* Generate action messages (#577)

Updates the rosidl_gen to generate all action JS files (a total of 11 files per action).

* Remove repetitious message handling logic

* Add ActionClient and ActionServer

* Remove dependency on tests_msgs

* Add missing action status qos profile

* Add action graph functions (#611)

Add graph names and types query functions for actions.

* Enhance and add more action examples

* Add action TypeScript typings

* Action implementation cleanup

#Fix #469
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Add actions support to rclnodejs RobotWebTools/rclnodejs
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