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[rclcpp_action] Action client holds weak pointers to goal handles #1122

Merged
merged 5 commits into from
May 22, 2020
Merged

[rclcpp_action] Action client holds weak pointers to goal handles #1122

merged 5 commits into from
May 22, 2020

Commits on May 20, 2020

  1. [rclcpp_action] Action client holds weak pointers to goal handles 

    Fixes #861

It is against the design of ROS actions to rely on the status topic for the core implementation,
instead it should just be used for introspection.

Rather than relying on the status topic to remove references to goal handles, the action client
instead holds weak pointers to the goal handles. This way as long as a user holds a reference to
the goal handle they can use it to interact with the action client.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
    @jacobperron
    jacobperron committed May 20, 2020
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Commits on May 21, 2020

  1. Move cleanup logic to the end of the function 

    Signed-off-by: Jacob Perron <jacob@openrobotics.org>
    @jacobperron
    jacobperron committed May 21, 2020
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  2. Add TODO 

    Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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    jacobperron committed May 21, 2020
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  3. Log debug messages when dropping a weak references to goal handles 

    Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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    jacobperron committed May 21, 2020
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  4. Improve documentation 

    Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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    jacobperron committed May 21, 2020
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