[WIP] Action support

examples/minimal_action_client/Cargo.toml

@@ -0,0 +1,19 @@
+[package]
+name = "examples_rclrs_minimal_action_client"
+version = "0.4.1"
+# This project is not military-sponsored, Jacob's employment contract just requires him to use this email address
+authors = ["Esteve Fernandez <esteve@apache.org>", "Nikolai Morin <nnmmgit@gmail.com>", "Jacob Hassold <jacob.a.hassold.civ@army.mil>"]
+edition = "2021"
+
+[[bin]]
+name = "minimal_action_client"
+path = "src/minimal_action_client.rs"
+
+[dependencies]
+anyhow = {version = "1", features = ["backtrace"]}
+example_interfaces = "*"
+rclrs = "0.4"
+rosidl_runtime_rs = "0.4"
+
+# This specific version is compatible with Rust 1.75
+backtrace = "=0.3.74"

examples/minimal_action_client/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model
+   href="http://download.ros.org/schema/package_format3.xsd"
+   schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>examples_rclrs_minimal_action_client</name>
+  <version>0.4.1</version>
+  <description>Minimal action client examples for rclrs.</description>
+  <maintainer email="esteve@apache.org">Esteve Fernandez</maintainer>
+  <maintainer email="nnmmgit@gmail.com">Nikolai Morin</maintainer>
+  <!-- This project is not military-sponsored, Jacob's employment contract just requires him to use this email address -->
+  <maintainer email="jacob.a.hassold.civ@army.mil">Jacob Hassold</maintainer>
+  <license>Apache License 2.0</license>
+
+  <build_depend>rclrs</build_depend>
+  <build_depend>rosidl_runtime_rs</build_depend>
+  <build_depend>example_interfaces</build_depend>
+
+  <exec_depend>rclrs</exec_depend>
+  <exec_depend>rosidl_runtime_rs</exec_depend>
+  <exec_depend>example_interfaces</exec_depend>
+
+  <export>
+    <build_type>ament_cargo</build_type>
+  </export>
+</package>

examples/minimal_action_client/src/minimal_action_client.rs

@@ -0,0 +1,16 @@
+use anyhow::{Error, Result};
+use rclrs::*;
+
+fn main() -> Result<(), Error> {
+    let mut executor = Context::default_from_env()?.create_basic_executor();
+
+    let node = executor.create_node("minimal_action_client")?;
+
+    let _client =
+        node.create_action_client::<example_interfaces::action::Fibonacci>("fibonacci")?;
+
+    executor
+        .spin(SpinOptions::default())
+        .first_error()
+        .map_err(|err| err.into())
+}