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It now takes an options struct that contains a reference to the feedback callback. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Otherwise, an exception is thrown since there was no result callback provided when sending the goal. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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It now takes callbacks for the goal response and result.
Connects to ros2/rclcpp#635