fix(codegen): hash CancelGoal as action_msgs/srv so rmw_zenoh can match cancel - #354
Open
richardw347 wants to merge 1 commit into
Open
richardw347 wants to merge 1 commit into
richardw347 wants to merge 1 commit into
Conversation
…ch cancel Treating CancelGoal as an action type (and omitting goals_canceling) produced a RIHS that diverges from ROS, so cancel queries never reached the server.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Summary
CancelGoalas a per-action/action/type and omittedgoals_canceling(and the nested UUID) from the type description, so the advertised RIHS was022cb8eb…instead of ROS573d8b0a….Test plan
cargo test -p hiroz-codegen test_cancel_goal_hash_matches_ros(pinsRIHS01_573d8b0a534451d7bc2ac8c5ffde8ac14b8593b7001175d0cd6516dcbeb8689a)ros2 action send_goal+ cancel against a hiroz server: cancel query should arrive (companion of the server liveness PR)