rclcpp_action

Adds action APIs for C++.

The link to the latest rclcpp_action API documentation, which includes a complete list of its main components and features, can be found on the rclcpp_action package info page. For more information about Actions in ROS 2, see the design document.

Quality Declaration

This package claims to be in the Quality Level 1 category, see the Quality Declaration for more details.

Changelog for package rclcpp_action

28.1.10 (2025-06-23)

• Replace std::default_random_engine with std::mt19937 (humble) (#2847) (#2867)
• Added missing chrono includes (#2854) (#2856)
• Contributors: mergify[bot]

28.1.9 (2025-04-23)

• fix(rclcpp_action): Fix sleep of expire thread in case of canceled timer (#2800) This fixes a bug, that the expire action thread would not sleep as, the sleep duration was not computed correctly. Co-authored-by: Janosch Machowinski <<J.Machowinski@cellumation.com>>
• Contributors: Janosch Machowinski

28.1.8 (2025-04-02)

• Harden rclcpp_action::convert(). (#2786) (#2789)

  • Harden rclcpp_action::convert().

  * update docstring. ---------(cherry picked from commit ce86ef7e621d96ce50d6ec1b49e9e1cd4f0a828b) Co-authored-by: Tomoya Fujita <<Tomoya.Fujita@sony.com>>

• Contributors: mergify[bot]

28.1.7 (2025-03-26)

• fix: Fixed expiring of goals if events executor is used (#2674)
• Contributors: Janosch Machowinski

28.1.6 (2024-12-18)

28.1.5 (2024-09-19)

28.1.4 (2024-09-06)

28.1.3 (2024-06-27)

28.1.2 (2024-05-13)

28.1.1 (2024-04-24)

28.1.0 (2024-04-16)

• Remove references to index.ros.org. (#2504)
• Contributors: Chris Lalancette

28.0.1 (2024-04-16)

• Callback after cancel (#2281)

  * feat(Client): Added function to stop callbacks of a goal handle This function allows us to drop the handle in a locked context. If we do not do this within a lock, there will be a race condition between the deletion of the shared_ptr of the handle and the result / feedback callbacks.

  * fix: make Client goal handle recursive This fixes deadlocks due to release of goal handles in callbacks etc.

  * fix(ActionGoalClient): Fixed memory leak for nominal case This fixes a memory leak due to a self reference in the ClientGoalHandle. Note, this fix will only work, if the ClientGoalHandle ever receives a result callback.

  • doc: Updated documentation of rclcpp_action::Client::async_send_goal

  * docs: Made the async_send_goal documentation more explicit Co-authored-by: Janosch Machowinski <<J.Machowinski@cellumation.com>>

• Remake of "fix: Fixed race condition in action server between is_ready and take" (#2495) Some background information: is_ready, take_data and execute data may be called from different threads in any order. The code in the old state expected them to be called in series, without interruption. This lead to multiple race conditions, as the state of the pimpl objects was altered by the three functions in a non thread safe way. Co-authored-by: Janosch Machowinski <<j.machowinski@nospam.org>>

• update rclcpp::Waitable API to use references and const (#2467)

• Contributors: William Woodall, jmachowinski

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