While the ActionServer implementation will pass it's CancelCallback function a ServerGoalHandler argument, this fact is not clearly documented, not illustrated in the actionserver tests and the TS CancelCallback function declaration does not include a ServerGoalHandle parameter.
This PR updates docs, test suite and modifies the TypeScript CancelCallback function declaration to include a required ServerGoalHandle parameter. The change breaks existing TypeScript ActionServers that implement a custom CancelCallback function with a compilation error.
Question: To make this a non-breaking change we can make the ServerGoalHandle optional. Thoughts?
While the ActionServer implementation will pass it's CancelCallback function a ServerGoalHandler argument, this fact is not clearly documented, not illustrated in the actionserver tests and the TS CancelCallback function declaration does not include a ServerGoalHandle parameter.
This PR updates docs, test suite and modifies the TypeScript CancelCallback function declaration to include a required ServerGoalHandle parameter. The change breaks existing TypeScript ActionServers that implement a custom CancelCallback function with a compilation error.
Question: To make this a non-breaking change we can make the ServerGoalHandle optional. Thoughts?
Fix #866