Add services to return Action interface details #1021
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Pull Request Overview
This pull request adds new rosapi services to return typedef details for action interfaces (goal, result, and feedback) by implementing helper functions and corresponding service endpoints.
- Added helper functions in objectutils.py to recursively retrieve typedefs for action goal, result, and feedback messages.
- Updated the rosapi_node script to register new services (ActionGoalDetails, ActionResultDetails, and ActionFeedbackDetails) with their handling functions.
Reviewed Changes
Copilot reviewed 2 out of 6 changed files in this pull request and generated no comments.
| File | Description |
|---|---|
| rosapi/src/rosapi/objectutils.py | Added functions to recursively retrieve typedefs for action interfaces. |
| rosapi/scripts/rosapi_node | Registered and implemented new services for action typedef details. |
Files not reviewed (4)
- rosapi_msgs/CMakeLists.txt: Language not supported
- rosapi_msgs/srv/ActionFeedbackDetails.srv: Language not supported
- rosapi_msgs/srv/ActionGoalDetails.srv: Language not supported
- rosapi_msgs/srv/ActionResultDetails.srv: Language not supported
bjsowa
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Mar 28, 2025
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Aug 13, 2025
Co-authored-by: davidfernandez <david.fernandez@pal-robotics.com>
bjsowa
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Aug 13, 2025
* Add services to return Action interface details (backport #1021) * Fix lint errors in objectutils * feat: Add interface and service for retrieving action type (backport #1046) * Added ActionType service and related functionality - Introduced ActionType service to retrieve the type of a specified ROS action. - Updated proxy to include logic for determining action types based on existing action servers. - Modified rosapi_node to create the new ActionType service endpoint. - Added ActionType message definition in rosapi_msgs. * Fix pre-commit hook issues: end-of-file and trailing-whitespace * reverted back vscode settings.json * Refactor get_action_type to use get_action_names_and_types for improved action type retrieval. Removed outdated logic for action server filtering and topic name extraction. * Update get_action_type function to set include_hidden parameter default to False for consistency with other functions. * Added ros2action as a runtime dependency in package.xml * Update rosapi readme * Fix pydocstyle error in rosapi_node * Add test for private slots in array info * Fix action_type service name --------- Co-authored-by: davidfernandez <david.fernandez@pal-robotics.com> Co-authored-by: Scott Bell <scott@traclabs.com> Co-authored-by: MNV Chaitanya Kumar <nagachaitanya948@gmail.com>
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Public API Changes
Added the following
rosapiservices:~/action_goal_details~/action_result_details~/action_feedback_detailsDescription
Added services to
rosapito retrieve details on action interfaces, similar to the existing message and request services.