rcl_action

rcl_action provides functionality for ROS 2 actions in C.

Features are described in detail at http://docs.ros2.org

For more information about ROS 2 actions, see: http://design.ros2.org/articles/actions.html

Quality Declaration

This package claims to be in the Quality Level 1 category, see the Quality Declaration for more details.

Changelog for package rcl_action

10.1.1 (2025-06-23)

10.1.0 (2025-04-04)

• Set envars to run tests with rmw_zenoh_cpp with multicast discovery (#1218)
• No need to add public symbol visibility macros in implementation. (#1213)
• fix 'rcl_action_server_configure_action_introspection': inconsistent dll linkage. (#1212)
• Add new interfaces to enable intropsection for action (#1207)
• Contributors: Barry Xu, Tomoya Fujita, yadunund

10.0.2 (2025-01-31)

• fix(rcl_action): Allow to pass the timer to action during initialization (#1201)

  * fix(timer): Use impl pointer in jump callback The interface description does not explicitly state that a rcl_timer_t may not be copied around. Therefore users may do this. By using a known never changing pointer in the callbacks, we avoid segfaults, even if the 'user' decides to copy the rcl_timer_t around.

• Added remapping resolution for action names (#1170)

  • Added remapping resolution for action names
  • Fix cpplint/uncrustify
  • Simplified returned error codes in case name resolution failes.
  • Renamed action_name field to remapped_action_name.
  • Removed unnecessary resolved_action_name stack variable
  • Added tests for action name remapping.

  * Add tests for action name remapping using local arguments ---------

• Clean up error handling in many rcl{_action,_lifecycle} codepaths (#1202)

  * Shorten the delay in test_action_server setup. Instead of waiting 250ms between setting up 10 goals (for at least 2.5 seconds), just wait 100ms which reduces this to 1 second.

  • Small style cleanups in test_action_server.cpp

  * Reset the error in rcl_node_type_cache_register_type(). That is, if rcutils_hash_map_set() fails, it sets its own error, so overriding it with our own will cause a warning to print. Make sure to clear it before setting our own.

  * Only unregister a clock jump callback if we have installed it. This avoids a warning on cleanup in rcl_timer_init2.

  * Record the return value from rcl_node_type_cache_register_type. Otherwise, in a failure situation we set the error but we actually return RCL_RET_OK to the upper layers, which is odd.

  * Get rid of completely unnecessary return value translation. This generated code was translating an RCL error to an RCL error, which doesn't make much sense. Just remove the duplicate code.

  * Use the rcl_timer_init2 functionality to start the timer disabled. Rather than starting it enabled, and then immediately canceling it.

  * Don't overwrite the error from rcl_action_goal_handle_get_info() It already sets the error, so rcl_action_server_goal_exists() should not set it again.

  * Reset errors before setting new ones when checking action validity That way we avoid an ugly warning in the error paths.

  * Move the copying of the options earlier in rcl_subscription_init. That way when we go to cleanup in the "fail" case, the options actually exist and are valid. This avoids an ugly warning during cleanup.

  * Make sure to set the error on failure of rcl_action_get_##_service_name This makes it match the generated code for the action_client.

  * Reset the errors during RCUTILS_FAULT_INJECTION testing. That way subsequent failures won't print out ugly error strings.

  * Make sure to return errors in _rcl_parse_resource_match . That is, if rcl_lexer_lookahead2_expect() returns an error, we should pass that along to higher layers rather than just ignoring it.

  * Don't overwrite error by rcl_validate_enclave_name. It leads to ugly warnings.

  • Add acomment that rmw_validate_namespace_with_size sets the error

  * Make sure to reset error in rcl_node_type_cache_init. Otherwise

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