Allow action servers without execute callback by Timple · Pull Request #1219 · ros2/rclpy

Timple · 2024-02-13T18:06:40Z

Just like rclcpp and ros1, allow action servers without execute callback.

Example like:

Display a message until a button is pressed
Actuate a motor until an endstop is reached

are typical cases where an action is succeeded based on information outside of the execute_cb.

It makes more sense to succeed these from outside the execute_cb in this case. And this would be in line with ros1 and rclcpp where this is possible.

I kept the execute_callback in args for backwards compatibility.

rclpy/rclpy/action/server.py

fujitatomoya

@Timple thanks for the contribution.

i think this is reasonable and aligns with rclcpp, but i would like to have another review from maintainers.

Timple · 2024-02-22T13:31:12Z

Alright, we'll wait for those 🙂

Timple · 2024-03-19T21:41:20Z

Subtle ping 🙂

Timple · 2024-04-12T05:58:11Z

Sorry for subtle bump again, but Jade is coming up. And I'm afraid breaking changes won't be accepted anymore soon.

fujitatomoya · 2024-04-13T16:32:36Z

@clalancette @sloretz @ahcorde either of you, can you take a look at this? i think this is reasonable and more flexibility for rclpy client.

fujitatomoya · 2024-04-13T16:34:47Z

@Timple can you rebase this to rolling? almost 100 commits are behind.

Timple · 2024-04-14T08:21:37Z

@Timple can you rebase this to rolling? almost 100 commits are behind.

Done!

ros-discourse · 2024-04-14T11:33:06Z

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/upcoming-feature-freeze-for-ros-2-jazzy-jalisco-on-15th-april-2024/37075/2

Timple · 2024-04-29T07:17:11Z

So I missed the jazzy release 😿

But this PR had some proper traction. Can we still get this in rolling?

_{If everybody is very busy doing release stuff for jazzy, I also fully understand. Then I'll apply some sort of exponential backoff to my pings 🙂}

fujitatomoya · 2024-04-29T17:38:44Z

@Timple sorry we missed this to jazzy. i will start the CI.

CC: @sloretz

fujitatomoya · 2024-04-29T17:42:01Z

CI:

Linux
Linux-aarch64
Windows

Timple · 2024-05-16T19:34:25Z

It's green! 😄

fujitatomoya · 2024-05-16T19:41:41Z

@sloretz @clalancette friendly ping.

Timple · 2024-06-25T09:04:41Z

Joehoe ❤️

ahcorde

I don't know the status of this PR or if this is still relevant, but I can see some conflicts

Timple · 2025-10-01T11:33:40Z

Well... Only if I can get some guarantee that it will be merged any time soon after fixing it :D

ahcorde · 2025-10-01T11:36:31Z

Well... Only if I can get some guarantee that it will be merged any time soon after fixing it :D

Sure, I will review it

fujitatomoya · 2025-10-02T08:00:00Z

@Mergifyio rebase

mergify · 2025-10-02T08:00:10Z

rebase

☑️ Nothing to do, the required conditions are not met

Details

-conflict [📌 rebase requirement]
-closed [📌 rebase requirement]
queue-position = -1 [📌 rebase requirement]
any of:
- #commits > 1 [📌 rebase requirement]
- #commits-behind > 0 [📌 rebase requirement]
- -linear-history [📌 rebase requirement]

Timple · 2025-10-02T08:30:40Z

That would have been great if that fixed it :).

The rebase should be fairly trivial but I won't get to this until next week. So if someone wants to give it a go..

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>

Timple · 2025-11-11T07:00:25Z

Rebased

ahcorde · 2025-11-11T09:40:07Z

Pulls: #1219
Gist: https://gist.githubusercontent.com/ahcorde/71ed983eb296a54593aa3c4727962a2d/raw/9669a71d2cf8597ba6b7140fac6148f2e245a4d0/ros2.repos
BUILD args: --packages-above-and-dependencies rclpy
TEST args: --packages-above rclpy
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17453

Linux
Linux-aarch64
Linux-rhel
Windows

ahcorde · 2025-11-13T18:25:16Z

Thank you for pushing this @Timple

Timple · 2025-12-04T12:09:09Z

Can this be backported to Jazzy & Kilted as well?
It doesn't break existing code and with python we don't have ABI I guess?

fujitatomoya · 2025-12-05T07:42:27Z

the changes made are backward-compatible and do not break user-space code, maintains existing function signatures

fujitatomoya · 2025-12-05T07:42:39Z

@Mergifyio backport jazzy kilted

mergify · 2025-12-05T08:19:31Z

backport jazzy kilted

✅ Backports have been created

Details

#1556 Allow action servers without execute callback (backport #1219) has been created for branch jazzy but encountered conflicts
#1557 Allow action servers without execute callback (backport #1219) has been created for branch kilted

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> (cherry picked from commit c170282) # Conflicts: # rclpy/rclpy/action/server.py # rclpy/test/test_action_server.py

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> (cherry picked from commit c170282)

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl>

* Allow action servers without execute callback (#1219) Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> (cherry picked from commit c170282) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

…os2#1556) * Allow action servers without execute callback (ros2#1219) Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> (cherry picked from commit c170282) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>

) * Fix warnings from gcc. (#1501) Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Update type_support to use new abcs Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Cleanup old test cases to use new automatic inference Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add content-filtered-topic interfaces (#1506) Signed-off-by: Barry Xu <Barry.Xu@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Added lock to protect futures for multithreaded executor (#1477) Signed-off-by: brennanmk <brennanmk2200@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * EventsExecutor: Handle async callbacks for services and subscriptions (#1478) Closes #1473 Signed-off-by: Brad Martin <bmartin@fatlxception.org> Co-authored-by: Brad Martin <bmartin@fatlxception.org> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * add spinning state for the Executor classes. (#1510) Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Fixes Action.*_async futures never complete (#1308) Per rclpy:1123 If two seperate client server actions are running in seperate executors the future given to the ActionClient will never complete due to a race condition This fixes the calls to rcl handles potentially leading to deadlock scenarios by adding locks to there references Co-authored-by: Aditya Agarwal <aditya.kgp25@gmail.com> Co-authored-by: Jonathan Blixt <jmblixt3@gmail.com> Signed-off-by: Jonathan Blixt <jmblixt3@gmail.com> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * remove unused 'param_type' (#1524) 'param_type' is set but never used Signed-off-by: Christian Rauch <Christian.Rauch@unileoben.ac.at> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Changelog Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * 10.0.1 Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Remove duplicate future handling from send_goal_async (#1532) A recent change intended to move this logic into a lock context, but actually ended up duplicating it instead. This fixes that by removing the duplicated logic outside of the lock. It also preserves the explicit typing annotation on the future. Signed-off-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * fix(test_events_executor): destroy all nodes before shutdown (#1538) Signed-off-by: yuanyuyuan <az6980522@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * add BaseImpl Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add ImplT Support Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * fix changelong Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Remove accidental tuple (#1542) Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Allow action servers without execute callback (#1219) Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> * add : get clients, servers info (#1307) Signed-off-by: Minju, Lee <dlalswn531@naver.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * 10.0.2 Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * update tests Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * ParameterEventHandler support ContentFiltering (#1531) * ParameterEventHandler support ContentFiltering Signed-off-by: Barry Xu <barry.xu@sony.com> * Address review comments Signed-off-by: Barry Xu <barry.xu@sony.com> --------- Signed-off-by: Barry Xu <barry.xu@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Fix issues with resuming async tasks awaiting a future (#1469) Signed-off-by: Błażej Sowa <bsowa123@gmail.com> Signed-off-by: Nadav Elkabets <elnadav12@gmail.com> Co-authored-by: Nadav Elkabets <32939935+nadavelkabets@users.noreply.github.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * 10.0.3 Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Increase clock accuracy (#1564) Signed-off-by: Florian Vahl <git@flova.de> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Use unconditional wait when possible. (#1563) Previously the max() value of the steady time was used as the default deadline. In some environments this results in overflows in the underlying pthread_cond_timedwait call, which waits for the conditional variable in the events queue implementation. Consequently, this lead to freezes in the executor. Reducing the deadline significantly helped, but using `cv.wait` instead of `cv_.wait_until` seems to be the cleaner solution. Signed-off-by: Florian Vahl <florian.vahl@dlr.de> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Remove default from switch with enum, so that compiler warns. (#1566) Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Fix parameter parsing for unspecified target nodes (#1552) Signed-off-by: Barry Xu <barry.xu@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Improve the compatibility of processing YAML parameter files (#1548) Signed-off-by: Barry Xu <barry.xu@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Improve wildcard parsing and optimize the logic for parsing YAML para… (#1571) Signed-off-by: Barry Xu <barry.xu@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Expose action graph functions as Node class methods. (#1574) * Expose action graph functions as Node class methods. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * address review comments to keep the warning consistent. Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com> --------- Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com> * Fix performance bug in MultiThreadedExecutor (hopefully) (#1547) Signed-off-by: Michael Tandy <git@mjt.me.uk> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Changelog Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * 10.0.4 Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * use Msg over BaseMessage Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Use Srv over BaseService Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Use Action over BaseAction Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * lint Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Update rclpy/rclpy/type_support.py Co-authored-by: Christophe Bedard <bedard.christophe@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> --------- Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> Signed-off-by: Barry Xu <Barry.Xu@sony.com> Signed-off-by: brennanmk <brennanmk2200@gmail.com> Signed-off-by: Brad Martin <bmartin@fatlxception.org> Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com> Signed-off-by: Christian Rauch <Christian.Rauch@unileoben.ac.at> Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com> Signed-off-by: yuanyuyuan <az6980522@gmail.com> Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> Signed-off-by: Minju, Lee <dlalswn531@naver.com> Signed-off-by: Barry Xu <barry.xu@sony.com> Signed-off-by: Błażej Sowa <bsowa123@gmail.com> Signed-off-by: Nadav Elkabets <elnadav12@gmail.com> Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> Signed-off-by: Florian Vahl <git@flova.de> Signed-off-by: Florian Vahl <florian.vahl@dlr.de> Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com> Signed-off-by: Michael Tandy <git@mjt.me.uk> Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Barry Xu <barry.xu@sony.com> Co-authored-by: Brennan Miller-Klugman <55165406+brennanmk@users.noreply.github.com> Co-authored-by: Brad Martin <52003535+bmartin427@users.noreply.github.com> Co-authored-by: Brad Martin <bmartin@fatlxception.org> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Jonathan <jmblixt3@gmail.com> Co-authored-by: Christian Rauch <Christian.Rauch@unileoben.ac.at> Co-authored-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com> Co-authored-by: Yuyuan Yuan <az6980522@gmail.com> Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl> Co-authored-by: Minju, Lee <70446214+leeminju531@users.noreply.github.com> Co-authored-by: Błażej Sowa <bsowa123@gmail.com> Co-authored-by: Nadav Elkabets <32939935+nadavelkabets@users.noreply.github.com> Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai> Co-authored-by: Florian Vahl <git@flova.de> Co-authored-by: Michael Tandy <git@mjt.me.uk> Co-authored-by: Christophe Bedard <bedard.christophe@gmail.com>

Timple requested review from adityapande-1995 and sloretz as code owners February 13, 2024 18:06

Timple force-pushed the do-not-force-executive-callback branch from d6f14c9 to 0dcf078 Compare February 13, 2024 18:10

fujitatomoya reviewed Feb 14, 2024

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Timple force-pushed the do-not-force-executive-callback branch from ac385b9 to d6163dc Compare February 14, 2024 16:57

fujitatomoya reviewed Feb 14, 2024

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audrow assigned sloretz Feb 22, 2024

fujitatomoya approved these changes Apr 13, 2024

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Timple force-pushed the do-not-force-executive-callback branch from d6163dc to 0cf2d64 Compare April 14, 2024 08:21

Timple changed the base branch from iron to rolling April 14, 2024 08:21

Timple force-pushed the do-not-force-executive-callback branch from 0cf2d64 to 26a7fdc Compare April 14, 2024 08:23

ahcorde requested changes Oct 1, 2025

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Timple added 3 commits November 11, 2025 07:55

Allow action servers without execute callback

a0729b8

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>

Call own executing function

c1aafdf

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>

Allow setting result in cancel and abort as well

f823a4d

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>

Timple force-pushed the do-not-force-executive-callback branch from cba9dbb to f823a4d Compare November 11, 2025 07:00

ahcorde approved these changes Nov 11, 2025

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ahcorde merged commit c170282 into ros2:rolling Nov 13, 2025
2 of 3 checks passed

mergify bot pushed a commit that referenced this pull request Dec 5, 2025

Allow action servers without execute callback (#1219)

6c94c9a

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> (cherry picked from commit c170282)

This was referenced Dec 5, 2025

Allow action servers without execute callback (backport #1219) #1556

Merged

Allow action servers without execute callback (backport #1219) #1557

Merged

Timple added a commit to nobleo/rclpy that referenced this pull request Dec 5, 2025

fixup! Allow action servers without execute callback (ros2#1219)

9a97b83

Timple added a commit to nobleo/rclpy that referenced this pull request Dec 5, 2025

fixup! Allow action servers without execute callback (ros2#1219)

283809b

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>

ahcorde pushed a commit that referenced this pull request Dec 5, 2025

fixup! Allow action servers without execute callback (#1219) (#1558)

c4d5325

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>

ahcorde pushed a commit that referenced this pull request Dec 8, 2025

Allow action servers without execute callback (backport #1219) (#1557)

5b0052d

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl>

InvincibleRMC pushed a commit to InvincibleRMC/rclpy that referenced this pull request Jan 12, 2026

Allow action servers without execute callback (ros2#1219)

f7bcd23

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>

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