Simple library for using the rclpy/rclcpp action libraries



A simple version of the rclpy/rclcpp action libraries.

Key Design Principles

  • For use with simple situations where there will never be two active goals.

  • Made for people like me who can’t think about the future for too long without their head hurting.

  • Callbacks/methods should deal with the regular Goal/Feedback/Result methods, not wrapped versions.

  • If the Action Client does not connect to the server relatively quickly, a warning should be printed while it waits, and another message should report when it finally does connect.