RST-6618 fixes for action bridge

README.md

@@ -46,7 +46,7 @@ To run the following examples you will also need these ROS 1 packages:
 
 ### Prerequisites for the examples in this file
 
-In order to make the examples below portable between versions of ROS, we define two environment variables, `ROS1_INSTALL_PATH` and `ROS2_INSTALL_PATH`. 
+In order to make the examples below portable between versions of ROS, we define two environment variables, `ROS1_INSTALL_PATH` and `ROS2_INSTALL_PATH`.
 These are defined as the paths to the installation location of their respective ROS versions.
 
 If you installed Noetic in the default location, then the definition of `ROS1_INSTALL_PATH` will be `/opt/ros/noetic`.
@@ -507,14 +507,14 @@ Note that the `qos` section can be omitted entirely and options not set are left
 
 This bridge extends the `ros1_bridge` to support actions. The bridge works in both directions, meaning an action goal can be sent from ROS 1 client to ROS 2 server, or from ROS 2 client to ROS 1 server.
 
-The arguments for the `action_bridge` node are:  
+The arguments for the `action_bridge` node are:
 `direction`: from client (`ros1` or `ros2`)
 e.g.:
-- `ROS1` client to `ROS2` server --> `direction` = `ros1`
-- `ROS2` client to `ROS1` server --> `direction` = `ros2`  
+- `ROS1` client to `ROS2` server --> `direction` = `ros2`
+- `ROS2` client to `ROS1` server --> `direction` = `ros1`
 
-`package`: package of the `ROS1` server node  
-`type`: action interface type of `ROS1`  
+`package`: package of the `ROS1` server node
+`type`: action interface type of `ROS1`
 `name`: action name
 
 For sending goals from a ROS 2 action client to a ROS 1 action server

include/ros1_bridge/action_factory.hpp

@@ -146,7 +146,7 @@ class ActionFactory_1_2 : public ActionFactoryInterface
       std::shared_future<ROS2ClientGoalHandle> gh2_future;
       auto send_goal_ops = ROS2SendGoalOptions();
       send_goal_ops.goal_response_callback =
-        [this, &gh2_future](std::shared_future<ROS2GoalHandle> gh2) mutable {
+        [this, &gh2_future](ROS2GoalHandle gh2) mutable {
           auto goal_handle = gh2_future.get();
           if (!goal_handle) {
             gh1_.setRejected();          // goal was not accepted by remote server

resource/interface_factories.cpp.em

@@ -405,27 +405,27 @@ void ActionFactory_@(frm_)_@(to_)<
 @(action["ros2_package"])::action::@(action["ros2_name"])
 >::translate_@(type.lower())_@(frm)_to_@(to)(
 @[      if type == "Goal"]@
-  @(const_1)ROS@(frm)@(type) &@(type.lower())@(frm),
-  @(const_2)ROS@(to)@(type) &@(type.lower())@(to))
+  @(const_1)ROS@(frm)@(type) &@(type.lower())_msg@(frm),
+  @(const_2)ROS@(to)@(type) &@(type.lower())_msg@(to))
 @[      else]@
-  @(const_1)ROS@(to)@(type) &@(type.lower())@(to),
-  @(const_2)ROS@(frm)@(type) &@(type.lower())@(frm))
+  @(const_1)ROS@(to)@(type) &@(type.lower())_msg@(to),
+  @(const_2)ROS@(frm)@(type) &@(type.lower())_msg@(frm))
 @[      end if]@
 {
 @[      for field in action["fields"][type.lower()]]@
 @[        if field["array"]]@
-  @(type.lower())@(to).@(field["ros" + to]["name"]).resize(@(type.lower())@(frm).@(field["ros" + frm]["name"]).size());
-  auto @(field["ros" + frm]["name"])@(frm)_it = @(type.lower())@(frm).@(field["ros" + frm]["name"]).begin();
-  auto @(field["ros" + to]["name"])@(to)_it = @(type.lower())@(to).@(field["ros" + to]["name"]).begin();
+  @(type.lower())_msg@(to).@(field["ros" + to]["name"]).resize(@(type.lower())_msg@(frm).@(field["ros" + frm]["name"]).size());
+  auto @(field["ros" + frm]["name"])@(frm)_it = @(type.lower())_msg@(frm).@(field["ros" + frm]["name"]).begin();
+  auto @(field["ros" + to]["name"])@(to)_it = @(type.lower())_msg@(to).@(field["ros" + to]["name"]).begin();
   while (
-    @(field["ros" + frm]["name"])@(frm)_it != @(type.lower())@(frm).@(field["ros" + frm]["name"]).end() &&
-    @(field["ros" + to]["name"])@(to)_it != @(type.lower())@(to).@(field["ros" + to]["name"]).end()
+    @(field["ros" + frm]["name"])@(frm)_it != @(type.lower())_msg@(frm).@(field["ros" + frm]["name"]).end() &&
+    @(field["ros" + to]["name"])@(to)_it != @(type.lower())_msg@(to).@(field["ros" + to]["name"]).end()
   ) {
     auto & @(field["ros" + frm]["name"])@(frm) = *(@(field["ros" + frm]["name"])@(frm)_it++);
     auto & @(field["ros" + to]["name"])@(to) = *(@(field["ros" + to]["name"])@(to)_it++);
 @[        else]@
-  auto & @(field["ros" + frm]["name"])@(frm) = @(type.lower())@(frm).@(field["ros" + frm]["name"]);
-  auto & @(field["ros" + to]["name"])@(to) = @(type.lower())@(to).@(field["ros" + to]["name"]);
+  auto & @(field["ros" + frm]["name"])@(frm) = @(type.lower())_msg@(frm).@(field["ros" + frm]["name"]);
+  auto & @(field["ros" + to]["name"])@(to) = @(type.lower())_msg@(to).@(field["ros" + to]["name"]);
 @[        end if]@
 @[      if field["basic"]]@
 @[        if field["ros2"]["type"].startswith("builtin_interfaces") ]@