micro-ROS already supported the ROS 2 communication paradigms (pub/sub, services, parameters, lifecycle….)
From now on, micro-ROS also supports actions. This means that the RCLC now is fully completed and enables all ROS 2 features.
Therefore, the full integration with all ROS 2-based interfaces can be achieved from the plain C micro-ROS API. Also, it provides specific features such as a real time executor or static memory handling.
The RCLC Actions Implementation in micro-ROS supports most of the well-known features of actions like goal requests, goal cancels, feedback and so on. All of them use the dynamic-memory-free micro-ROS usual approach.
They will be included in RCLC Rolling release v3.0.5
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Are there any plans to backport this to earlier (Micro-)ROS versions?
(would that even be possible?)
pablogs
3
Hello @gavanderhoorn, it is not possible due to the ABI policy of RCLC. The implementation of action breaks ABI, so backporting it to Foxy or Galactic is not possible.
Maybe it is a good idea to have in Rolling until Humble came up in order to polish possible misbehaviours that we have not seen during dev&test.
Please provide feedback if you test this new API. Thanks!!
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