feat: dynamic services #496
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
maciejmajek
reviewed
Mar 31, 2025
| self.T_class = get_args(self.__orig_bases__[0])[0] | ||
| self.T_class = get_args(self.__orig_bases__[-1])[0] |
maciejmajek
reviewed
Mar 31, 2025
Comment on lines
243
to
262
| def test_ros2ari_connector_action_call(ros_setup: None, request: pytest.FixtureRequest): | ||
| action_name = "navigate_to_pose" | ||
| connector = ROS2ARIConnector() | ||
| mock_callback = MagicMock() | ||
| mock_callback.return_value = NavigateToPose.Result() | ||
|
|
||
| try: | ||
| action_server_handle = connector.create_action( | ||
| action_name, | ||
| generate_feedback_callback=mock_callback, | ||
| action_type="nav2_msgs/action/NavigateToPose", | ||
| ) | ||
| assert action_server_handle is not None | ||
| except Exception as e: | ||
| raise e | ||
|
|
||
| try: | ||
| action_client = TestActionClient() | ||
| executors, threads = multi_threaded_spinner([action_client]) | ||
| action_client.send_goal() | ||
| time.sleep(0.01) | ||
| finally: | ||
| shutdown_executors_and_threads(executors, threads) | ||
| assert mock_callback.called |
There was a problem hiding this comment.
Please extend the action tests to include sending feedback and cancelling action.
maciejmajek
reviewed
Mar 31, 2025
rachwalk
force-pushed
the
feat/dynamic-services
branch
from
b026c45 to
0bc5be1
Compare
maciejmajek
approved these changes
Apr 1, 2025
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Purpose
To restore ability to create ROS2 actions and services through a connector
Proposed Changes
Adds creation of ROS2 actions and services to Connector API
Issues
#471
Testing
Unit tests were added, passing