Taking advantage of all the action mechanisms
The reason I’m talking about feedback and cancel mechanisms now and didn’t previously is to try not to overwhelm you with too much code at once. I know that actions are more complex than everything you’ve seen before with ROS 2. The minimal code alone is already quite long and contains lots of small details you must pay attention to.
Also, as explained in the first part of this chapter, the feedback and cancel mechanisms are optional. You can create a fully working client/server communication without them.
We’re now going to improve the minimal code and add a few more functionalities so that we can take full advantage of ROS 2 actions. Here’s what you can do to prepare the files for this section:
- Make a copy of the files containing
_minimal. - Rename those new files by removing the
_minimal.
For example, you can make a copy of count_until_client_minimal.py (we won’t modify...
