Allow action servers without execute callback (backport #1219)#1556
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Allow action servers without execute callback (backport #1219)#1556
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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
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Cherry-pick of c170282 has failed: To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally |
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Pulls: #1556
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Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
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ahcorde
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Dec 9, 2025
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Dec 12, 2025
…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>
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Just like rclcpp and ros1, allow action servers without execute callback.
Example like:
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_callbackinargsfor backwards compatibility.This is an automatic backport of pull request #1219 done by Mergify.