Removed action tutorials interfaces dependency

CMakeLists.txt

@@ -24,12 +24,12 @@ find_package(rclpy REQUIRED)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
-  find_package(action_tutorials_interfaces REQUIRED)
+  find_package(example_interfaces REQUIRED)
   ament_add_gtest(${PROJECT_NAME}_smoke_test test/smoke.cpp)
 
   ament_target_dependencies(${PROJECT_NAME}_smoke_test
-    action_tutorials_interfaces
     action_msgs
+    example_interfaces
     rclcpp
     rclcpp_action
   )
@@ -41,8 +41,8 @@ if(BUILD_TESTING)
   ament_add_gtest(${PROJECT_NAME}_complex_test test/complex_setup.cpp)
 
   ament_target_dependencies(${PROJECT_NAME}_complex_test
-    action_tutorials_interfaces
     action_msgs
+    example_interfaces
     rclcpp
     rclcpp_action
   )

doc/CPlusPlusClient.md

@@ -3,16 +3,16 @@
 ## Minimal Example
 Sends the goal, and ignores the result and the feedback
 ```cpp
-#include <action_tutorials_interfaces/action/fibonacci.hpp>
+#include <example_interfaces/action/fibonacci.hpp>
 #include <simple_actions/simple_client.hpp>
 
 int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("client_demo");
-  simple_actions::SimpleActionClient<action_tutorials_interfaces::action::Fibonacci> client(node, "fibonacci");
+  simple_actions::SimpleActionClient<example_interfaces::action::Fibonacci> client(node, "fibonacci");
 
-  action_tutorials_interfaces::action::Fibonacci::Goal goal_msg;
+  example_interfaces::action::Fibonacci::Goal goal_msg;
   goal_msg.order = 10;
   client.sendGoal(goal_msg);
   rclcpp::shutdown();
@@ -24,16 +24,16 @@ int main(int argc, char * argv[])
 This example sends the goal and waits for the result.
 
 ```cpp
-#include <action_tutorials_interfaces/action/fibonacci.hpp>
+#include <example_interfaces/action/fibonacci.hpp>
 #include <simple_actions/simple_client.hpp>
 
 int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("client_demo");
-  simple_actions::SimpleActionClient<action_tutorials_interfaces::action::Fibonacci> client(node, "fibonacci");
+  simple_actions::SimpleActionClient<example_interfaces::action::Fibonacci> client(node, "fibonacci");
 
-  action_tutorials_interfaces::action::Fibonacci::Goal goal_msg;
+  example_interfaces::action::Fibonacci::Goal goal_msg;
   goal_msg.order = 10;
   auto result = client.execute(goal_msg);
   for (const auto& n : result.sequence)
@@ -48,21 +48,21 @@ int main(int argc, char * argv[])
 ## Example with Callbacks
 This example uses custom callbacks for the result and feedback.
 ```cpp
-#include <action_tutorials_interfaces/action/fibonacci.hpp>
+#include <example_interfaces/action/fibonacci.hpp>
 #include <simple_actions/simple_client.hpp>
 
-void feedbackCallback(const action_tutorials_interfaces::action::Fibonacci::Feedback& feedback)
+void feedbackCallback(const example_interfaces::action::Fibonacci::Feedback& feedback)
 {
   std::stringstream ss;
   ss << "Next number in sequence received: ";
-  for (auto number : feedback.partial_sequence) {
+  for (auto number : feedback.sequence) {
     ss << number << " ";
   }
   std::cout << ss.str() << std::endl;
 }
 
 void resultCallback(simple_actions::ResultCode code,
-                    const action_tutorials_interfaces::action::Fibonacci::Result& result)
+                    const example_interfaces::action::Fibonacci::Result& result)
 {
   if (code == simple_actions::ResultCode::SUCCEEDED)
   {
@@ -85,9 +85,9 @@ int main(int argc, char * argv[])
   using namespace std::placeholders;
   rclcpp::init(argc, argv);
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("client_demo");
-  simple_actions::SimpleActionClient<action_tutorials_interfaces::action::Fibonacci> client(node, "fibonacci");
+  simple_actions::SimpleActionClient<example_interfaces::action::Fibonacci> client(node, "fibonacci");
 
-  action_tutorials_interfaces::action::Fibonacci::Goal goal_msg;
+  example_interfaces::action::Fibonacci::Goal goal_msg;
   goal_msg.order = 10;
   client.sendGoal(goal_msg, std::bind(resultCallback, _1, _2), std::bind(feedbackCallback, _1));
   rclcpp::spin(node);
@@ -97,7 +97,7 @@ int main(int argc, char * argv[])
 
 ### Example With Class Callbacks
 ```cpp
-#include <action_tutorials_interfaces/action/fibonacci.hpp>
+#include <example_interfaces/action/fibonacci.hpp>
 #include <simple_actions/simple_client.hpp>
 
 class FibonacciActionClient
@@ -112,28 +112,28 @@ public:
   {
     using namespace std::placeholders;
 
-    auto goal_msg = action_tutorials_interfaces::action::Fibonacci::Goal();
+    auto goal_msg = example_interfaces::action::Fibonacci::Goal();
     goal_msg.order = 10;
 
     client_.sendGoal(goal_msg, std::bind(&FibonacciActionClient::resultCallback, this, _1, _2), std::bind(&FibonacciActionClient::feedbackCallback, this, _1));
   }
 
 private:
   rclcpp::Node::SharedPtr node_;
-  simple_actions::SimpleActionClient<action_tutorials_interfaces::action::Fibonacci> client_;
+  simple_actions::SimpleActionClient<example_interfaces::action::Fibonacci> client_;
 
-  void feedbackCallback(const action_tutorials_interfaces::action::Fibonacci::Feedback& feedback)
+  void feedbackCallback(const example_interfaces::action::Fibonacci::Feedback& feedback)
   {
     std::stringstream ss;
     ss << "Next number in sequence received: ";
-    for (auto number : feedback.partial_sequence) {
+    for (auto number : feedback.sequence) {
       ss << number << " ";
     }
     RCLCPP_INFO(node_->get_logger(), ss.str().c_str());
   }
 
   void resultCallback(simple_actions::ResultCode code,
-                       const action_tutorials_interfaces::action::Fibonacci::Result & result)
+                       const example_interfaces::action::Fibonacci::Result & result)
   {
     if (code == simple_actions::ResultCode::SUCCEEDED)
     {
@@ -175,7 +175,7 @@ You can also specify a feedback callback with the call operator, a la
 By default, creating the `SimpleActionClient` will wait for the server to come up. You can disable that by passing in `wait_for_server=False` and then calling `waitForServer()` later.
 
 ```cpp
-    simple_actions::SimpleActionClient<action_tutorials_interfaces::action::Fibonacci> client(node, "fibonacci", false);
+    simple_actions::SimpleActionClient<example_interfaces::action::Fibonacci> client(node, "fibonacci", false);
 
     # Do something else
     client.waitForServer();
@@ -193,7 +193,7 @@ C++ exception with description "Node '/XYZ' has already been added to an executo
 In this case, you can use the `spin_locally` flag in the `SimpleActionClient::execute()` function to avoid using the implicit executor.
 
 ```cpp
-#include <action_tutorials_interfaces/action/fibonacci.hpp>
+#include <example_interfaces/action/fibonacci.hpp>
 #include <simple_actions/simple_client.hpp>
 
 class MyComplexClass

doc/CPlusPlusServer.md

@@ -4,11 +4,11 @@
 Listens for goal, returns the result (no feedback)
 
 ```cpp
-#include <action_tutorials_interfaces/action/fibonacci.hpp>
+#include <example_interfaces/action/fibonacci.hpp>
 #include <simple_actions/simple_server.hpp>
 
-bool execute(const action_tutorials_interfaces::action::Fibonacci::Goal& goal,
-             action_tutorials_interfaces::action::Fibonacci::Result& result)
+bool execute(const example_interfaces::action::Fibonacci::Goal& goal,
+             example_interfaces::action::Fibonacci::Result& result)
 {
   rclcpp::Rate loop_rate(1);
   std::vector<int> sequence;
@@ -29,7 +29,7 @@ int main(int argc, char* argv[])
 {
   rclcpp::init(argc, argv);
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("server_demo");
-  simple_actions::SimpleActionServer<action_tutorials_interfaces::action::Fibonacci> server(
+  simple_actions::SimpleActionServer<example_interfaces::action::Fibonacci> server(
       node, "fibonacci", std::bind(&execute, std::placeholders::_1, std::placeholders::_2));
   rclcpp::spin(node);
   return 0;
@@ -40,13 +40,13 @@ int main(int argc, char* argv[])
 You need the `action_server` reference to send feedback, so its easier to do it within a class then deal with global variables or lambdas. YMMV.
 
 ```cpp
-#include <action_tutorials_interfaces/action/fibonacci.hpp>
+#include <example_interfaces/action/fibonacci.hpp>
 #include <simple_actions/simple_server.hpp>
 
 class FibonacciActionServer
 {
 public:
-  using Fibonacci = action_tutorials_interfaces::action::Fibonacci;
+  using Fibonacci = example_interfaces::action::Fibonacci;
 
   explicit FibonacciActionServer(rclcpp::Node::SharedPtr node)
     : node_(node),
@@ -63,7 +63,7 @@ private:
   {
     rclcpp::Rate loop_rate(1);
     auto feedback = std::make_shared<Fibonacci::Feedback>();
-    auto& sequence = feedback->partial_sequence;
+    auto& sequence = feedback->sequence;
     sequence.push_back(0);
     sequence.push_back(1);
 

doc/PythonClient.md

@@ -6,7 +6,7 @@ Sends the goal, and ignores the result and the feedback
 import rclpy
 from rclpy.node import Node
 from simple_actions import SimpleActionClient
-from action_tutorials_interfaces.action import Fibonacci
+from example_interfaces.action import Fibonacci
 
 
 def main(args=None):
@@ -29,7 +29,7 @@ This example sends the goal and waits for the result.
 import rclpy
 from rclpy.node import Node
 from simple_actions import SimpleActionClient
-from action_tutorials_interfaces.action import Fibonacci
+from example_interfaces.action import Fibonacci
 
 
 def main(args=None):
@@ -53,11 +53,11 @@ This example uses custom callbacks for the result and feedback.
 import rclpy
 from rclpy.node import Node
 from simple_actions import SimpleActionClient
-from action_tutorials_interfaces.action import Fibonacci
+from example_interfaces.action import Fibonacci
 
 
 def my_awesome_feedback_cb(feedback):
-    print(f'Feedback: {feedback.partial_sequence}')
+    print(f'Feedback: {feedback.sequence}')
 
 
 def my_awesome_result_cb(result_code, result):

doc/PythonServer.md

@@ -8,7 +8,7 @@ import time
 import rclpy
 from rclpy.node import Node
 from simple_actions import SimpleActionServer
-from action_tutorials_interfaces.action import Fibonacci
+from example_interfaces.action import Fibonacci
 
 
 def fibonacci_action(goal):
@@ -43,7 +43,7 @@ import time
 import rclpy
 from rclpy.node import Node
 from simple_actions import SimpleActionServer
-from action_tutorials_interfaces.action import Fibonacci
+from example_interfaces.action import Fibonacci
 
 
 class FibonacciServer:
@@ -52,16 +52,16 @@ class FibonacciServer:
 
     def fibonacci_action(self, goal):
         feedback_msg = Fibonacci.Feedback()
-        feedback_msg.partial_sequence = [0, 1]
+        feedback_msg.sequence = [0, 1]
 
         for i in range(1, goal.order):
-            feedback_msg.partial_sequence.append(
-                feedback_msg.partial_sequence[i] + feedback_msg.partial_sequence[i - 1])
+            feedback_msg.sequence.append(
+                feedback_msg.sequence[i] + feedback_msg.sequence[i - 1])
             self.action_server.publish_feedback(feedback_msg)
             time.sleep(1.0)
 
         result = Fibonacci.Result()
-        result.sequence = feedback_msg.partial_sequence
+        result.sequence = feedback_msg.sequence
         return result
 
 

package.xml

@@ -13,7 +13,7 @@
   <depend>rclcpp_action</depend>
   <depend>rclpy</depend>
 
-  <test_depend>action_tutorials_interfaces</test_depend>
+  <test_depend>example_interfaces</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

simple_actions/utilities.py

@@ -34,7 +34,7 @@
 def get_action_name(action_type):
     """Return a cleaned up version of the action type."""
     # Mildly hacky, but works for now
-    class_name_str = str(action_type)  # e.g. <class 'action_tutorials_interfaces.action._fibonacci.Fibonacci'>
-    class_name = class_name_str.split("'")[1]  # e.g. action_tutorials_interfaces.action._fibonacci.Fibonacci
+    class_name_str = str(action_type)  # e.g. <class 'example_interfaces.action._fibonacci.Fibonacci'>
+    class_name = class_name_str.split("'")[1]  # e.g. example_interfaces.action._fibonacci.Fibonacci
     parts = class_name.split('.')
-    return '.'.join([parts[0], parts[1], parts[-1]])  # e.g. action_tutorials_interfaces.action.Fibonacci
+    return '.'.join([parts[0], parts[1], parts[-1]])  # e.g. example_interfaces.action.Fibonacci

test/complex_setup.cpp

@@ -37,12 +37,12 @@
 #include <gtest/gtest.h>
 #include <simple_actions/simple_client.hpp>
 #include <simple_actions/simple_server.hpp>
-#include <action_tutorials_interfaces/action/fibonacci.hpp>
+#include <example_interfaces/action/fibonacci.hpp>
 
-#include <action_tutorials_interfaces/action/fibonacci.hpp>
+#include <example_interfaces/action/fibonacci.hpp>
 #include <simple_actions/simple_client.hpp>
 
-using Fibonacci = action_tutorials_interfaces::action::Fibonacci;
+using Fibonacci = example_interfaces::action::Fibonacci;
 
 class TestComplexSetup : public ::testing::Test
 {

test/smoke.cpp

@@ -37,27 +37,27 @@
 #include <gtest/gtest.h>
 #include <simple_actions/simple_client.hpp>
 #include <simple_actions/simple_server.hpp>
-#include <action_tutorials_interfaces/action/fibonacci.hpp>
+#include <example_interfaces/action/fibonacci.hpp>
 using namespace std::chrono_literals;
 
-bool execute(const action_tutorials_interfaces::action::Fibonacci::Goal&,
-             action_tutorials_interfaces::action::Fibonacci::Result&)
+bool execute(const example_interfaces::action::Fibonacci::Goal&,
+             example_interfaces::action::Fibonacci::Result&)
 {
   return false;
 }
 
 TEST(Smoke, clientTest)
 {
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("client_demo");
-  simple_actions::SimpleActionClient<action_tutorials_interfaces::action::Fibonacci> client(node, "fibonacci", false);
+  simple_actions::SimpleActionClient<example_interfaces::action::Fibonacci> client(node, "fibonacci", false);
   EXPECT_FALSE(client.waitForServer(1s));
   EXPECT_FALSE(client.getLatestResultCode());
 }
 
 TEST(Smoke, serverTest)
 {
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("server_demo");
-  simple_actions::SimpleActionServer<action_tutorials_interfaces::action::Fibonacci> server(
+  simple_actions::SimpleActionServer<example_interfaces::action::Fibonacci> server(
       node, "fibonacci", std::bind(&execute, std::placeholders::_1, std::placeholders::_2));
 }