Refactor Transport service handlers UserCommands (backport #2996)
#3124
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* Refactor Transport service handlers This removes a lot of repetitive code where a service handler simply copies the message, creates and adds the associated command to a command queue. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Also refactor code for advertising services Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add back missing function Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Update our usage of workerpools (#2995) In `SimulationRunner`, we initialize a worker pool but we never actually use it so it's pure overhead. In `ServerPrivate` we only use the worker pool if there are multiple simulation runners, so we can optimize for the most common use case of one runner. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Fix linter issues Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Fix typo Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add missing constructor Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> --------- Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> (cherry picked from commit bf68eae)
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azeey
approved these changes
Oct 16, 2025
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🦟 Bug fix
Summary
This removes a lot of repetitive code where a service handler simply
copies the message, creates and adds the associated command to a command
queue.
This is a precursor to a follow-up PR that changes the service handlers to wait for the execution of the command before returning.
Note: It might be easier to review each commit separately.
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-byandGenerated-bymessages.This is an automatic backport of pull request #2996 done by [Mergify](https://mergify.com).