bump Golang to 1.23

bluenviron · Oct 27, 2024 · e71a704 · e71a704
1 parent d449db0
commit e71a704
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diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
@@ -15,11 +15,11 @@ jobs:
 
     - uses: actions/setup-go@v3
       with:
-        go-version: "1.22"
+        go-version: "1.23"
 
     - uses: golangci/golangci-lint-action@v3
       with:
-        version: v1.59.1
+        version: v1.61.0
 
   go-mod-tidy:
     runs-on: ubuntu-22.04
@@ -29,7 +29,7 @@ jobs:
 
     - uses: actions/setup-go@v3
       with:
-        go-version: "1.22"
+        go-version: "1.23"
 
     - run: |
         go mod tidy

diff --git a/.github/workflows/msgs.yml b/.github/workflows/msgs.yml
@@ -12,7 +12,7 @@ jobs:
     steps:
     - uses: actions/setup-go@v3
       with:
-        go-version: "1.22"
+        go-version: "1.23"
 
     - run: go install mvdan.cc/[email protected]
 

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-22.04
     strategy:
       matrix:
-        go: ["1.20", "1.21", "1.22"]
+        go: ["1.21", "1.22", "1.23"]
 
     steps:
     - uses: actions/checkout@v4
@@ -22,7 +22,7 @@ jobs:
 
     - run: make test-nodocker
 
-    - if: matrix.go == '1.22'
+    - if: matrix.go == '1.23'
       uses: codecov/codecov-action@v3
       with:
         token: ${{ secrets.CODECOV_TOKEN }}
diff --git a/Makefile b/Makefile
@@ -1,5 +1,5 @@
-BASE_IMAGE = golang:1.22-alpine3.18
-LINT_IMAGE = golangci/golangci-lint:v1.59.1
+BASE_IMAGE = golang:1.23-alpine3.20
+LINT_IMAGE = golangci/golangci-lint:v1.61.0
 
 .PHONY: $(shell ls)
 

diff --git a/README.md b/README.md
@@ -41,7 +41,7 @@ Features:
 
 ## Installation
 
-1. Install Go &ge; 1.20.
+1. Install Go &ge; 1.21.
 
 2. Create an empty folder, open a terminal in it and initialize the Go modules system:
 

diff --git a/action_client.go b/action_client.go
@@ -460,7 +460,7 @@ func NewActionClient(conf ActionClientConf) (*ActionClient, error) {
 		Node:  conf.Node,
 		Topic: conf.Name + "/feedback",
 		Callback: reflect.MakeFunc(
-			reflect.FuncOf([]reflect.Type{reflect.PtrTo(ac.fbActionType)}, []reflect.Type{}, false),
+			reflect.FuncOf([]reflect.Type{reflect.PointerTo(ac.fbActionType)}, []reflect.Type{}, false),
 			ac.onFeedback,
 		).Interface(),
 		onPublisher: func() {
@@ -481,7 +481,7 @@ func NewActionClient(conf ActionClientConf) (*ActionClient, error) {
 		Node:  conf.Node,
 		Topic: conf.Name + "/result",
 		Callback: reflect.MakeFunc(
-			reflect.FuncOf([]reflect.Type{reflect.PtrTo(ac.resActionType)}, []reflect.Type{}, false),
+			reflect.FuncOf([]reflect.Type{reflect.PointerTo(ac.resActionType)}, []reflect.Type{}, false),
 			ac.onResult,
 		).Interface(),
 		onPublisher: func() {
@@ -589,9 +589,9 @@ func (ac *ActionClient) SendGoal(conf ActionClientGoalConf) (*ActionClientGoalHa
 	if conf.Goal == nil {
 		return nil, fmt.Errorf("Goal is empty")
 	}
-	if reflect.TypeOf(conf.Goal) != reflect.PtrTo(ac.goalType) {
+	if reflect.TypeOf(conf.Goal) != reflect.PointerTo(ac.goalType) {
 		return nil, fmt.Errorf("Goal must be %s, while is %v",
-			reflect.PtrTo(ac.goalType), reflect.TypeOf(conf.Goal))
+			reflect.PointerTo(ac.goalType), reflect.TypeOf(conf.Goal))
 	}
 
 	if conf.OnTransition != nil {
@@ -611,9 +611,9 @@ func (ac *ActionClient) SendGoal(conf ActionClientGoalConf) (*ActionClientGoalHa
 		if cbt.NumOut() != 0 {
 			return nil, fmt.Errorf("OnTransition must not return any value")
 		}
-		if cbt.In(1) != reflect.PtrTo(ac.resType) {
+		if cbt.In(1) != reflect.PointerTo(ac.resType) {
 			return nil, fmt.Errorf("OnTransition 2nd argument must be %s, while is %v",
-				reflect.PtrTo(ac.resType), cbt.In(1))
+				reflect.PointerTo(ac.resType), cbt.In(1))
 		}
 	}
 
@@ -628,9 +628,9 @@ func (ac *ActionClient) SendGoal(conf ActionClientGoalConf) (*ActionClientGoalHa
 		if cbt.NumOut() != 0 {
 			return nil, fmt.Errorf("OnFeedback must not return any value")
 		}
-		if cbt.In(0) != reflect.PtrTo(ac.fbType) {
+		if cbt.In(0) != reflect.PointerTo(ac.fbType) {
 			return nil, fmt.Errorf("OnFeedback 1st argument must must be %s, while is %v",
-				reflect.PtrTo(ac.fbType), cbt.In(1))
+				reflect.PointerTo(ac.fbType), cbt.In(1))
 		}
 	}
 

diff --git a/action_client_test.go b/action_client_test.go
@@ -128,7 +128,7 @@ func TestActionClient(t *testing.T) {
 						Node:  ns,
 						Topic: "test_action/goal",
 						Callback: reflect.MakeFunc(
-							reflect.FuncOf([]reflect.Type{reflect.PtrTo(reflect.TypeOf(goalAction))}, []reflect.Type{}, false),
+							reflect.FuncOf([]reflect.Type{reflect.PointerTo(reflect.TypeOf(goalAction))}, []reflect.Type{}, false),
 							func(in []reflect.Value) []reflect.Value {
 								go func() {
 									goalID := in[0].Elem().FieldByName("GoalId").

diff --git a/action_server.go b/action_server.go
@@ -62,9 +62,9 @@ type ActionServerGoalHandler struct {
 
 // PublishFeedback publishes a feedback about the goal,
 func (gh *ActionServerGoalHandler) PublishFeedback(fb interface{}) {
-	if reflect.TypeOf(fb) != reflect.PtrTo(gh.as.fbType) {
+	if reflect.TypeOf(fb) != reflect.PointerTo(gh.as.fbType) {
 		panic(fmt.Errorf("argument must be %s, while is %v",
-			reflect.PtrTo(gh.as.fbType), reflect.TypeOf(fb)))
+			reflect.PointerTo(gh.as.fbType), reflect.TypeOf(fb)))
 	}
 
 	gh.as.mutex.Lock()
@@ -90,9 +90,9 @@ func (gh *ActionServerGoalHandler) PublishFeedback(fb interface{}) {
 }
 
 func (gh *ActionServerGoalHandler) publishResult(res interface{}) {
-	if reflect.TypeOf(res) != reflect.PtrTo(gh.as.resType) {
+	if reflect.TypeOf(res) != reflect.PointerTo(gh.as.resType) {
 		panic(fmt.Errorf("argument must be %s, while is %v",
-			reflect.PtrTo(gh.as.resType), reflect.TypeOf(res)))
+			reflect.PointerTo(gh.as.resType), reflect.TypeOf(res)))
 	}
 
 	gh.as.conf.Node.Log(LogLevelDebug, "action server '%s' has finished goal '%s' with state '%s'",
@@ -315,9 +315,9 @@ func NewActionServer(conf ActionServerConf) (*ActionServer, error) {
 			return nil, fmt.Errorf("OnGoal 1st argument must be %s, while is %v",
 				reflect.TypeOf(&ActionServerGoalHandler{}), cbt.In(0))
 		}
-		if cbt.In(1) != reflect.PtrTo(as.goalType) {
+		if cbt.In(1) != reflect.PointerTo(as.goalType) {
 			return nil, fmt.Errorf("OnGoal 2nd argument must be %s, while is %v",
-				reflect.PtrTo(as.goalType), cbt.In(1))
+				reflect.PointerTo(as.goalType), cbt.In(1))
 		}
 
 		if cbt.NumOut() != 0 {
@@ -359,7 +359,7 @@ func NewActionServer(conf ActionServerConf) (*ActionServer, error) {
 		Node:  conf.Node,
 		Topic: conf.Name + "/goal",
 		Callback: reflect.MakeFunc(
-			reflect.FuncOf([]reflect.Type{reflect.PtrTo(reflect.TypeOf(goalAction))}, []reflect.Type{}, false),
+			reflect.FuncOf([]reflect.Type{reflect.PointerTo(reflect.TypeOf(goalAction))}, []reflect.Type{}, false),
 			as.onGoal,
 		).Interface(),
 	})

diff --git a/action_server_test.go b/action_server_test.go
@@ -110,7 +110,7 @@ func TestActionServer(t *testing.T) {
 					Node:  nc,
 					Topic: "test_action/feedback",
 					Callback: reflect.MakeFunc(
-						reflect.FuncOf([]reflect.Type{reflect.PtrTo(reflect.TypeOf(fbAction))}, []reflect.Type{}, false),
+						reflect.FuncOf([]reflect.Type{reflect.PointerTo(reflect.TypeOf(fbAction))}, []reflect.Type{}, false),
 						func(in []reflect.Value) []reflect.Value {
 							require.Equal(t, DoSomethingActionFeedback{0.5}, in[0].Elem().FieldByName("Feedback").Interface())
 							close(fbRecv)
@@ -125,7 +125,7 @@ func TestActionServer(t *testing.T) {
 					Node:  nc,
 					Topic: "test_action/result",
 					Callback: reflect.MakeFunc(
-						reflect.FuncOf([]reflect.Type{reflect.PtrTo(reflect.TypeOf(resAction))}, []reflect.Type{}, false),
+						reflect.FuncOf([]reflect.Type{reflect.PointerTo(reflect.TypeOf(resAction))}, []reflect.Type{}, false),
 						func(in []reflect.Value) []reflect.Value {
 							require.Equal(t, DoSomethingActionResult{123456}, in[0].Elem().FieldByName("Result").Interface())
 							close(resRecv)
@@ -211,7 +211,7 @@ func TestActionServerCancelGoal(t *testing.T) {
 				Node:  nc,
 				Topic: "test_action/result",
 				Callback: reflect.MakeFunc(
-					reflect.FuncOf([]reflect.Type{reflect.PtrTo(reflect.TypeOf(resAction))}, []reflect.Type{}, false),
+					reflect.FuncOf([]reflect.Type{reflect.PointerTo(reflect.TypeOf(resAction))}, []reflect.Type{}, false),
 					func(_ []reflect.Value) []reflect.Value {
 						close(resRecv)
 						return nil

diff --git a/go.mod b/go.mod
@@ -1,6 +1,6 @@
 module github.com/bluenviron/goroslib/v2
 
-go 1.20
+go 1.21
 
 require (
 	github.com/alecthomas/kong v1.2.1

diff --git a/go.sum b/go.sum
@@ -6,11 +6,15 @@ github.com/Microsoft/go-winio v0.6.1/go.mod h1:LRdKpFKfdobln8UmuiYcKPot9D2v6svN5
 github.com/ProtonMail/go-crypto v1.0.0 h1:LRuvITjQWX+WIfr930YHG2HNfjR1uOfyf5vE0kC2U78=
 github.com/ProtonMail/go-crypto v1.0.0/go.mod h1:EjAoLdwvbIOoOQr3ihjnSoLZRtE8azugULFRteWMNc0=
 github.com/alecthomas/assert/v2 v2.10.0 h1:jjRCHsj6hBJhkmhznrCzoNpbA3zqy0fYiUcYZP/GkPY=
+github.com/alecthomas/assert/v2 v2.10.0/go.mod h1:Bze95FyfUr7x34QZrjL+XP+0qgp/zg8yS+TtBj1WA3k=
 github.com/alecthomas/kong v1.2.1 h1:E8jH4Tsgv6wCRX2nGrdPyHDUCSG83WH2qE4XLACD33Q=
 github.com/alecthomas/kong v1.2.1/go.mod h1:rKTSFhbdp3Ryefn8x5MOEprnRFQ7nlmMC01GKhehhBM=
 github.com/alecthomas/repr v0.4.0 h1:GhI2A8MACjfegCPVq9f1FLvIBS+DrQ2KQBFZP1iFzXc=
+github.com/alecthomas/repr v0.4.0/go.mod h1:Fr0507jx4eOXV7AlPV6AVZLYrLIuIeSOWtW57eE/O/4=
 github.com/anmitsu/go-shlex v0.0.0-20200514113438-38f4b401e2be h1:9AeTilPcZAjCFIImctFaOjnTIavg87rW78vTPkQqLI8=
+github.com/anmitsu/go-shlex v0.0.0-20200514113438-38f4b401e2be/go.mod h1:ySMOLuWl6zY27l47sB3qLNK6tF2fkHG55UZxx8oIVo4=
 github.com/armon/go-socks5 v0.0.0-20160902184237-e75332964ef5 h1:0CwZNZbxp69SHPdPJAN/hZIm0C4OItdklCFmMRWYpio=
+github.com/armon/go-socks5 v0.0.0-20160902184237-e75332964ef5/go.mod h1:wHh0iHkYZB8zMSxRWpUBQtwG5a7fFgvEO+odwuTv2gs=
 github.com/bwesterb/go-ristretto v1.2.3/go.mod h1:fUIoIZaG73pV5biE2Blr2xEzDoMj7NFEuV9ekS419A0=
 github.com/cloudflare/circl v1.3.3/go.mod h1:5XYMA4rFBvNIrhs50XuiBJ15vF2pZn4nnUKZrLbUZFA=
 github.com/cloudflare/circl v1.3.7 h1:qlCDlTPz2n9fu58M0Nh1J/JzcFpfgkFHHX3O35r5vcU=
@@ -21,39 +25,48 @@ github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSs
 github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/elazarl/goproxy v0.0.0-20230808193330-2592e75ae04a h1:mATvB/9r/3gvcejNsXKSkQ6lcIaNec2nyfOdlTBR2lU=
+github.com/elazarl/goproxy v0.0.0-20230808193330-2592e75ae04a/go.mod h1:Ro8st/ElPeALwNFlcTpWmkr6IoMFfkjXAvTHpevnDsM=
 github.com/emirpasic/gods v1.18.1 h1:FXtiHYKDGKCW2KzwZKx0iC0PQmdlorYgdFG9jPXJ1Bc=
 github.com/emirpasic/gods v1.18.1/go.mod h1:8tpGGwCnJ5H4r6BWwaV6OrWmMoPhUl5jm/FMNAnJvWQ=
 github.com/gliderlabs/ssh v0.3.7 h1:iV3Bqi942d9huXnzEF2Mt+CY9gLu8DNM4Obd+8bODRE=
+github.com/gliderlabs/ssh v0.3.7/go.mod h1:zpHEXBstFnQYtGnB8k8kQLol82umzn/2/snG7alWVD8=
 github.com/go-git/gcfg v1.5.1-0.20230307220236-3a3c6141e376 h1:+zs/tPmkDkHx3U66DAb0lQFJrpS6731Oaa12ikc+DiI=
 github.com/go-git/gcfg v1.5.1-0.20230307220236-3a3c6141e376/go.mod h1:an3vInlBmSxCcxctByoQdvwPiA7DTK7jaaFDBTtu0ic=
 github.com/go-git/go-billy/v5 v5.5.0 h1:yEY4yhzCDuMGSv83oGxiBotRzhwhNr8VZyphhiu+mTU=
 github.com/go-git/go-billy/v5 v5.5.0/go.mod h1:hmexnoNsr2SJU1Ju67OaNz5ASJY3+sHgFRpCtpDCKow=
 github.com/go-git/go-git-fixtures/v4 v4.3.2-0.20231010084843-55a94097c399 h1:eMje31YglSBqCdIqdhKBW8lokaMrL3uTkpGYlE2OOT4=
+github.com/go-git/go-git-fixtures/v4 v4.3.2-0.20231010084843-55a94097c399/go.mod h1:1OCfN199q1Jm3HZlxleg+Dw/mwps2Wbk9frAWm+4FII=
 github.com/go-git/go-git/v5 v5.12.0 h1:7Md+ndsjrzZxbddRDZjF14qK+NN56sy6wkqaVrjZtys=
 github.com/go-git/go-git/v5 v5.12.0/go.mod h1:FTM9VKtnI2m65hNI/TenDDDnUf2Q9FHnXYjuz9i5OEY=
 github.com/golang/groupcache v0.0.0-20210331224755-41bb18bfe9da h1:oI5xCqsCo564l8iNU+DwB5epxmsaqB+rhGL0m5jtYqE=
 github.com/golang/groupcache v0.0.0-20210331224755-41bb18bfe9da/go.mod h1:cIg4eruTrX1D+g88fzRXU5OdNfaM+9IcxsU14FzY7Hc=
 github.com/google/go-cmp v0.6.0 h1:ofyhxvXcZhMsU5ulbFiLKl/XBFqE1GSq7atu8tAmTRI=
+github.com/google/go-cmp v0.6.0/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeNGIjoY=
 github.com/gookit/color v1.5.4 h1:FZmqs7XOyGgCAxmWyPslpiok1k05wmY3SJTytgvYFs0=
 github.com/gookit/color v1.5.4/go.mod h1:pZJOeOS8DM43rXbp4AZo1n9zCU2qjpcRko0b6/QJi9w=
 github.com/hexops/gotextdiff v1.0.3 h1:gitA9+qJrrTCsiCl7+kh75nPqQt1cx4ZkudSTLoUqJM=
+github.com/hexops/gotextdiff v1.0.3/go.mod h1:pSWU5MAI3yDq+fZBTazCSJysOMbxWL1BSow5/V2vxeg=
 github.com/jbenet/go-context v0.0.0-20150711004518-d14ea06fba99 h1:BQSFePA1RWJOlocH6Fxy8MmwDt+yVQYULKfN0RoTN8A=
 github.com/jbenet/go-context v0.0.0-20150711004518-d14ea06fba99/go.mod h1:1lJo3i6rXxKeerYnT8Nvf0QmHCRC1n8sfWVwXF2Frvo=
 github.com/kevinburke/ssh_config v1.2.0 h1:x584FjTGwHzMwvHx18PXxbBVzfnxogHaAReU4gf13a4=
 github.com/kevinburke/ssh_config v1.2.0/go.mod h1:CT57kijsi8u/K/BOFA39wgDQJ9CxiF4nAY/ojJ6r6mM=
 github.com/kr/pretty v0.1.0/go.mod h1:dAy3ld7l9f0ibDNOQOHHMYYIIbhfbHSm3C4ZsoJORNo=
 github.com/kr/pretty v0.3.1 h1:flRD4NNwYAUpkphVc1HcthR4KEIFJ65n8Mw5qdRn3LE=
+github.com/kr/pretty v0.3.1/go.mod h1:hoEshYVHaxMs3cyo3Yncou5ZscifuDolrwPKZanG3xk=
 github.com/kr/pty v1.1.1/go.mod h1:pFQYn66WHrOpPYNljwOMqo10TkYh1fy3cYio2l3bCsQ=
 github.com/kr/text v0.1.0/go.mod h1:4Jbv+DJW3UT/LiOwJeYQe1efqtUx/iVham/4vfdArNI=
 github.com/kr/text v0.2.0 h1:5Nx0Ya0ZqY2ygV366QzturHI13Jq95ApcVaJBhpS+AY=
+github.com/kr/text v0.2.0/go.mod h1:eLer722TekiGuMkidMxC/pM04lWEeraHUUmBw8l2grE=
 github.com/onsi/gomega v1.27.10 h1:naR28SdDFlqrG6kScpT8VWpu1xWY5nJRCF3XaYyBjhI=
+github.com/onsi/gomega v1.27.10/go.mod h1:RsS8tutOdbdgzbPtzzATp12yT7kM5I5aElG3evPbQ0M=
 github.com/pjbgf/sha1cd v0.3.0 h1:4D5XXmUUBUl/xQ6IjCkEAbqXskkq/4O7LmGn0AqMDs4=
 github.com/pjbgf/sha1cd v0.3.0/go.mod h1:nZ1rrWOcGJ5uZgEEVL1VUM9iRQiZvWdbZjkKyFzPPsI=
 github.com/pkg/errors v0.9.1 h1:FEBLx1zS214owpjy7qsBeixbURkuhQAwrK5UwLGTwt4=
 github.com/pkg/errors v0.9.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
 github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM=
 github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
 github.com/rogpeppe/go-internal v1.11.0 h1:cWPaGQEPrBb5/AsnsZesgZZ9yb1OQ+GOISoDNXVBh4M=
+github.com/rogpeppe/go-internal v1.11.0/go.mod h1:ddIwULY96R17DhadqLgMfk9H9tvdUzkipdSkR5nkCZA=
 github.com/sergi/go-diff v1.3.2-0.20230802210424-5b0b94c5c0d3 h1:n661drycOFuPLCN3Uc8sB6B/s6Z4t2xvBgU1htSHuq8=
 github.com/sergi/go-diff v1.3.2-0.20230802210424-5b0b94c5c0d3/go.mod h1:A0bzQcvG0E7Rwjx0REVgAGH58e96+X0MeOfepqsbeW4=
 github.com/sirupsen/logrus v1.7.0/go.mod h1:yWOB1SBYBC5VeMP7gHvWumXLIWorT60ONWic61uBYv0=
@@ -93,6 +106,7 @@ golang.org/x/sync v0.0.0-20190423024810-112230192c58/go.mod h1:RxMgew5VJxzue5/jJ
 golang.org/x/sync v0.0.0-20220722155255-886fb9371eb4/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sync v0.1.0/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sync v0.3.0 h1:ftCYgMx6zT/asHUrPw8BLLscYtGznsLAnjq5RH9P66E=
+golang.org/x/sync v0.3.0/go.mod h1:FU7BRWz2tNW+3quACPkgCx/L+uEAv1htQ0V83Z9Rj+Y=
 golang.org/x/sys v0.0.0-20190215142949-d0b11bdaac8a/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/sys v0.0.0-20191026070338-33540a1f6037/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/sys v0.0.0-20201119102817-f84b799fce68/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
@@ -114,6 +128,7 @@ golang.org/x/term v0.2.0/go.mod h1:TVmDHMZPmdnySmBfhjOoOdhjzdE1h4u1VwSiw2l1Nuc=
 golang.org/x/term v0.5.0/go.mod h1:jMB1sMXY+tzblOD4FWmEbocvup2/aLOaQEp7JmGp78k=
 golang.org/x/term v0.6.0/go.mod h1:m6U89DPEgQRMq3DNkDClhWw02AUbt2daBVO4cn4Hv9U=
 golang.org/x/term v0.18.0 h1:FcHjZXDMxI8mM3nwhX9HlKop4C0YQvCVCdwYl2wOtE8=
+golang.org/x/term v0.18.0/go.mod h1:ILwASektA3OnRv7amZ1xhE/KTR+u50pbXfZ03+6Nx58=
 golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
 golang.org/x/text v0.3.3/go.mod h1:5Zoc/QRtKVWzQhOtBMvqHzDpF6irO9z98xDceosuGiQ=
 golang.org/x/text v0.3.6/go.mod h1:5Zoc/QRtKVWzQhOtBMvqHzDpF6irO9z98xDceosuGiQ=
@@ -122,6 +137,7 @@ golang.org/x/text v0.4.0/go.mod h1:mrYo+phRRbMaCq/xk9113O4dZlRixOauAjOtrjsXDZ8=
 golang.org/x/text v0.7.0/go.mod h1:mrYo+phRRbMaCq/xk9113O4dZlRixOauAjOtrjsXDZ8=
 golang.org/x/text v0.8.0/go.mod h1:e1OnstbJyHTd6l/uOt8jFFHp6TRDWZR/bV3emEE/zU8=
 golang.org/x/text v0.14.0 h1:ScX5w1eTa3QqT8oi6+ziP7dTV1S2+ALU0bI+0zXKWiQ=
+golang.org/x/text v0.14.0/go.mod h1:18ZOQIKpY8NJVqYksKHtTdi31H5itFRjB5/qKTNYzSU=
 golang.org/x/tools v0.0.0-20180917221912-90fa682c2a6e/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ=
 golang.org/x/tools v0.0.0-20191119224855-298f0cb1881e/go.mod h1:b+2E5dAYhXwXZwtnZ6UAqBI28+e2cm9otk0dWdXHAEo=
 golang.org/x/tools v0.1.12/go.mod h1:hNGJHUnrk76NpqgfD5Aqm5Crs+Hm0VOH/i9J2+nxYbc=
@@ -132,6 +148,7 @@ golang.org/x/xerrors v0.0.0-20190717185122-a985d3407aa7/go.mod h1:I/5z698sn9Ka8T
 gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
 gopkg.in/check.v1 v1.0.0-20190902080502-41f04d3bba15/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
 gopkg.in/check.v1 v1.0.0-20201130134442-10cb98267c6c h1:Hei/4ADfdWqJk1ZMxUNpqntNwaWcugrBjAiHlqqRiVk=
+gopkg.in/check.v1 v1.0.0-20201130134442-10cb98267c6c/go.mod h1:JHkPIbrfpd72SG/EVd6muEfDQjcINNoR0C8j2r3qZ4Q=
 gopkg.in/warnings.v0 v0.1.2 h1:wFXVbFY8DY5/xOe1ECiWdKCzZlxgshcYVNkBHstARME=
 gopkg.in/warnings.v0 v0.1.2/go.mod h1:jksf8JmL6Qr/oQM2OXTHunEvvTAsrWBLb6OOjuVWRNI=
 gopkg.in/yaml.v2 v2.2.2/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=

diff --git a/service_client.go b/service_client.go
@@ -2,6 +2,7 @@ package goroslib
 
 import (
 	"context"
+	"errors"
 	"fmt"
 	"net"
 	"reflect"
@@ -227,7 +228,7 @@ func (sc *ServiceClient) createConn(ctx context.Context) error {
 
 	if strErr, ok := raw["error"]; ok {
 		nconn.Close()
-		return fmt.Errorf(strErr)
+		return errors.New(strErr)
 	}
 
 	var outHeader prototcp.HeaderServiceProvider

diff --git a/simple_action_client.go b/simple_action_client.go
@@ -110,9 +110,9 @@ func (sac *SimpleActionClient) SendGoal(conf SimpleActionClientGoalConf) error {
 			return fmt.Errorf("OnDone 1st argument must be %s, while is %v",
 				reflect.TypeOf(SimpleActionClientGoalState(0)), cbt.In(0))
 		}
-		if cbt.In(1) != reflect.PtrTo(sac.ac.resType) {
+		if cbt.In(1) != reflect.PointerTo(sac.ac.resType) {
 			return fmt.Errorf("OnDone 2nd argument must be %s, while is %v",
-				reflect.PtrTo(sac.ac.resType), cbt.In(1))
+				reflect.PointerTo(sac.ac.resType), cbt.In(1))
 		}
 
 		if cbt.NumOut() != 0 {
@@ -129,9 +129,9 @@ func (sac *SimpleActionClient) SendGoal(conf SimpleActionClientGoalConf) error {
 		if cbt.NumIn() != 1 {
 			return fmt.Errorf("OnFeedback must accept a single argument")
 		}
-		if cbt.In(0) != reflect.PtrTo(sac.ac.fbType) {
+		if cbt.In(0) != reflect.PointerTo(sac.ac.fbType) {
 			return fmt.Errorf("OnFeedback 1st argument must be %s, while is %v",
-				reflect.PtrTo(sac.ac.fbType), cbt.In(0))
+				reflect.PointerTo(sac.ac.fbType), cbt.In(0))
 		}
 
 		if cbt.NumOut() != 0 {
@@ -153,15 +153,15 @@ func (sac *SimpleActionClient) SendGoal(conf SimpleActionClientGoalConf) error {
 		OnTransition: reflect.MakeFunc(
 			reflect.FuncOf([]reflect.Type{
 				reflect.TypeOf(&ActionClientGoalHandler{}),
-				reflect.PtrTo(sac.ac.resType),
+				reflect.PointerTo(sac.ac.resType),
 			}, []reflect.Type{}, false),
 			func(in []reflect.Value) []reflect.Value {
 				return sac.onTransition(fixedSGH, in)
 			},
 		).Interface(),
 		OnFeedback: reflect.MakeFunc(
 			reflect.FuncOf([]reflect.Type{
-				reflect.PtrTo(sac.ac.fbType),
+				reflect.PointerTo(sac.ac.fbType),
 			}, []reflect.Type{}, false),
 			func(in []reflect.Value) []reflect.Value {
 				return sac.onFeedback(fixedSGH, in)

diff --git a/simple_action_server.go b/simple_action_server.go
@@ -86,9 +86,9 @@ func NewSimpleActionServer(conf SimpleActionServerConf) (*SimpleActionServer, er
 			return nil, fmt.Errorf("OnExecute 1st argument must be %s, while is %v",
 				reflect.TypeOf(&SimpleActionServer{}), cbt.In(0))
 		}
-		if cbt.In(1) != reflect.PtrTo(reflect.TypeOf(goal)) {
+		if cbt.In(1) != reflect.PointerTo(reflect.TypeOf(goal)) {
 			return nil, fmt.Errorf("OnExecute 2nd argument must be %s, while is %v",
-				reflect.PtrTo(reflect.TypeOf(goal)), cbt.In(1))
+				reflect.PointerTo(reflect.TypeOf(goal)), cbt.In(1))
 		}
 
 		if cbt.NumOut() != 0 {
@@ -103,7 +103,7 @@ func NewSimpleActionServer(conf SimpleActionServerConf) (*SimpleActionServer, er
 		OnGoal: reflect.MakeFunc(
 			reflect.FuncOf([]reflect.Type{
 				reflect.TypeOf(&ActionServerGoalHandler{}),
-				reflect.PtrTo(reflect.TypeOf(goal)),
+				reflect.PointerTo(reflect.TypeOf(goal)),
 			}, []reflect.Type{}, false),
 			sas.onGoal,
 		).Interface(),

diff --git a/subscriber_pub.go b/subscriber_pub.go
@@ -267,7 +267,7 @@ func (sp *subscriberPublisher) runInnerTCP(proto []interface{}) error {
 		}
 
 		if strErr, ok := raw["error"]; ok {
-			err = fmt.Errorf(strErr)
+			err = errors.New(strErr)
 			return
 		}