action server

[martantoine]

Hello

Issue template

• Hardware description: STM32F446RE
• RTOS: FREERTOS
• Installation type: microROS installed following the instructions on micro_ros_stm32
• Version or commit hash: humble

Steps to reproduce the issue

1. Create a custom action in a package following ROS2 humble instructions
2. copy the package src folder in the extra packages following instructions on this page
3. take code inspiration from ros-demo-actio-server

4. "Final" code, I only put part of the code that are revelant:

   void StartDefaultTask(void *argument)
   {
   /* USER CODE BEGIN StartDefaultTask */
   /* Infinite loop */
   // micro-ROS configuration
   
   rmw_uros_set_custom_transport(
   true,
   (void *) &huart2,
   cubemx_transport_open,
   cubemx_transport_close,
   cubemx_transport_write,
   cubemx_transport_read);
   
   rcl_allocator_t freeRTOS_allocator = rcutils_get_zero_initialized_allocator();
   freeRTOS_allocator.allocate = microros_allocate;
   freeRTOS_allocator.deallocate = microros_deallocate;
   freeRTOS_allocator.reallocate = microros_reallocate;
   freeRTOS_allocator.zero_allocate =  microros_zero_allocate;
   
   if (!rcutils_set_default_allocator(&freeRTOS_allocator)) {
     printf("Error on default allocators (line %d)\n", __LINE__); 
   }
   
   // micro-ROS node
   rcl_allocator_t allocator = rcl_get_default_allocator();
   
   rclc_support_t support;
   RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
   rcl_node_t node;
   RCCHECK(rclc_node_init_default(&node, "DuploBuster", "", &support)); 
   
   // micro-ROS action service
   while(ROSIDL_GET_ACTION_TYPE_SUPPORT(duplobuster_interface, Order) == NULL);
   rclc_action_server_t action_server;
   volatile int qqq = rclc_action_server_init_default(
   &action_server,
   &node,
   &support,
   ROSIDL_GET_ACTION_TYPE_SUPPORT(duplobuster_interface, Order),
   "Order"
   );
   
   // Create executor
   rclc_executor_t executor;
   volatile wtf2 = rclc_executor_init(&executor, &support.context, 1, &allocator);
   
   duplobuster_interface__action__Order_SendGoal_Request ros_goal_request[10];
   volatile int wtf3 =  rclc_executor_add_action_server(
   &executor,
   &action_server,
   10,
   ros_goal_request,
   sizeof(duplobuster_interface__action__Order_SendGoal_Request),
   handle_goal,
   handle_cancel,
   (void *) &action_server
   );
   
   // create publisher
   std_msgs__msg__Int32 msg;
   rcl_publisher_t publisher;
   rclc_publisher_init_default(
   &publisher,
   &node,
   ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
   "cubemx_publisher");
   
   msg.data = 0;
   
   for(;;)
   {
     HAL_GPIO_TogglePin(PIN_TEST_GPIO_Port, PIN_TEST_Pin);
   
     rcl_ret_t ret = rcl_publish(&publisher, &msg, NULL);
   rclc_executor_spin_some(&executor, RCL_MS_TO_NS(10));
   if (ret != RCL_RET_OK)
   {
     printf("Error publishing (line %d)\n", __LINE__); 
   }
   
   msg.data++;
   osDelay(10);
   }
   
   rcl_node_fini(&node);
   /* USER CODE END StartDefaultTask */
   }

   Expected behavior

   I should be able to discover the action wen runing ros2 run action list

Actual behavior

I don't have anyting when running ros2 run action list even though I still can see the node and the publisher

Additional information

The code compiles without any error / warning, it's a runtime issue

Thank you

[Acuadros95]

You need to modify the values on the colcon.meta file and then rebuild the library, just as detailed on the Customizing the micro-ROS library section.

For an action server you will need atleast 3 services and 2 publishers, that are used internally by the library.