fix: Expose timers used by rclcpp::Waitables #2699
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Added a fix for the expire timer not working for action servers. |
added 2 commits
December 6, 2024 14:39
This change was needed, as an events based executors needs to be aware of the timers, in order generate the timer ready events. Signed-off-by: Janosch Machowinski <[email protected]>
This should fix a bug, were the internal expire timer of the action server was not triggered. Signed-off-by: Janosch Machowinski <[email protected]>
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This pull request has been mentioned on ROS Discourse. There might be relevant details there: https://discourse.ros.org/t/next-client-library-wg-meeting-friday-6th-december-2024-8am-pt/40954/2 |
alsora
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Dec 10, 2024
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The changes look good.
Would you mind adding a couple of unit-tests that exercise the new method?
It would be ideal to have:
- a test for the action server to verify that it returns 1 timer
- a test with the events executor where we verify that the timer is correctly handled
Signed-off-by: Janosch Machowinski <[email protected]>
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This change was needed, as an events based executors needs to be aware of the timers, in order generate the timer ready events.
@alsora @wjwwood This PR is the followup to the discussion two weeks back in the client workgroup.