I believe actions are usable as part of node composition. I've created an example here:
https://github.com/ros2/examples/pull/230
Although, I'll admit that there is some refactoring that can be done to make things more user-friendly. For example, [ros2/rclcpp#635](
https://github.com/ros2/rclcpp/issues/635).
Regarding "simple" actions, I don't think it is very difficult for a user to achieve the desired behaviour with the current implementation (see [rclpy "single goal" example](
https://github.com/ros2/examples/blob/f4d4b14bbcb257eae4d46ef06ecf66db025580ae/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server_single_goal.py)). I can see the benefit of wrapping the boiler-plate code into convenient classes for "simple" actions, but I don't think it is a high priority.
I agree with @kyrofa that tutorials would be a good thing to have for Dashing. I've recently created a [ticket on GitHub](
https://github.com/ros-infrastructure/rosindex/issues/149) to discuss ideas and track progress.
---
[Visit Topic](
https://discourse.ros.org/t/actions-in-ros-2/6254/16) or reply to this email to respond.
If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates.
______________________________________________________________________________
ros-users mailing list
ros-users@lists.ros.org
http://lists.ros.org/mailman/listinfo/ros-users
Unsubscribe: <
http://lists.ros.org/mailman//options/ros-users>
(text/plain)