Add action options

Author: rafal-gorecki

behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp

@@ -174,7 +174,8 @@ class RosActionNode : public BT::ActionNodeBase
   struct ActionClientInstance
   {
     ActionClientInstance(std::shared_ptr<rclcpp::Node> node,
-                         const std::string& action_name);
+                         const std::string& action_name,
+                         const rcl_action_client_options_t& action_client_options);
 
     ActionClientPtr action_client;
     rclcpp::CallbackGroup::SharedPtr callback_group;
@@ -222,6 +223,7 @@ class RosActionNode : public BT::ActionNodeBase
   const std::chrono::milliseconds server_timeout_;
   const std::chrono::milliseconds wait_for_server_timeout_;
   std::string action_client_key_;
+  rcl_action_client_options_t action_client_options_;
 
 private:
   std::shared_future<typename GoalHandle::SharedPtr> future_goal_handle_;
@@ -241,12 +243,14 @@ class RosActionNode : public BT::ActionNodeBase
 
 template <class T>
 RosActionNode<T>::ActionClientInstance::ActionClientInstance(
-    std::shared_ptr<rclcpp::Node> node, const std::string& action_name)
+    std::shared_ptr<rclcpp::Node> node, const std::string& action_name,
+    const rcl_action_client_options_t& action_client_options)
 {
   callback_group =
       node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
   callback_executor.add_callback_group(callback_group, node->get_node_base_interface());
-  action_client = rclcpp_action::create_client<T>(node, action_name, callback_group);
+  action_client = rclcpp_action::create_client<T>(node, action_name, callback_group,
+                                                  action_client_options);
 }
 
 template <class T>
@@ -257,6 +261,7 @@ inline RosActionNode<T>::RosActionNode(const std::string& instance_name,
   , node_(params.nh)
   , server_timeout_(params.server_timeout)
   , wait_for_server_timeout_(params.wait_for_server_timeout)
+  , action_client_options_(params.action_client_options)
 {
   // Three cases:
   // - we use the default action_name in RosNodeParams when port is empty
@@ -308,7 +313,8 @@ inline bool RosActionNode<T>::createClient(const std::string& action_name)
   auto it = registry.find(action_client_key_);
   if(it == registry.end() || it->second.expired())
   {
-    client_instance_ = std::make_shared<ActionClientInstance>(node, action_name);
+    client_instance_ =
+        std::make_shared<ActionClientInstance>(node, action_name, action_client_options_);
     registry.insert({ action_client_key_, client_instance_ });
   }
   else

behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp

@@ -144,7 +144,7 @@ class RosServiceNode : public BT::ActionNodeBase
   {
     ServiceClientInstance(std::shared_ptr<rclcpp::Node> node,
                           const std::string& service_name,
-                          const rmw_qos_profile_t qos_profile);
+                          const rmw_qos_profile_t& qos_profile);
 
     ServiceClientPtr service_client;
     rclcpp::CallbackGroup::SharedPtr callback_group;
@@ -213,7 +213,7 @@ class RosServiceNode : public BT::ActionNodeBase
 template <class T>
 inline RosServiceNode<T>::ServiceClientInstance::ServiceClientInstance(
     std::shared_ptr<rclcpp::Node> node, const std::string& service_name,
-    const rmw_qos_profile_t qos_profile)
+    const rmw_qos_profile_t& qos_profile)
 {
   callback_group =
       node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false);

behaviortree_ros2/include/behaviortree_ros2/ros_node_params.hpp

@@ -36,12 +36,12 @@ struct RosNodeParams
   // - RosTopicSubNode: name of the topic to subscribe to
   std::string default_port_value;
 
-  // Different configuration based on the context:
-  rclcpp::QoS topic_qos =
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default));
-  rmw_qos_profile_t service_qos_profile = rmw_qos_profile_services_default;
+  // Default qos configuration for actions, services and topics
   rcl_action_client_options_t action_client_options =
       rcl_action_client_get_default_options();
+  rmw_qos_profile_t service_qos_profile = rmw_qos_profile_services_default;
+  rclcpp::QoS topic_qos =
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default));
 
   // parameters used only by service client and action clients