replace "partial_sequence" into "sequence". (backport #6217)

source/Tutorials/Intermediate/Creating-an-Action.rst

@@ -134,9 +134,9 @@ Within the ``action`` directory, create a file called ``Fibonacci.action`` with
   ---
   int32[] sequence
   ---
-  int32[] partial_sequence
+  int32[] sequence
 
-The goal request is the ``order`` of the Fibonacci sequence we want to compute, the result is the final ``sequence``, and the feedback is the ``partial_sequence`` computed so far.
+The goal request is the ``order`` of the Fibonacci sequence we want to compute, the result is the final ``sequence``, and the feedback is the ``sequence`` computed so far.
 
 3 Building an action
 ^^^^^^^^^^^^^^^^^^^^

source/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.rst

@@ -347,7 +347,7 @@ Here's the callback function for feedback messages:
     :language: python
     :lines: 41-43
 
-In the callback we get the feedback portion of the message and print the ``partial_sequence`` field to the screen.
+In the callback we get the feedback portion of the message and print the ``sequence`` field to the screen.
 
 We need to register the callback with the action client.
 This is achieved by additionally passing the callback to the action client when we send a goal:

source/Tutorials/Intermediate/Writing-an-Action-Server-Client/scripts/client.cpp

@@ -63,7 +63,7 @@ class FibonacciActionClient : public rclcpp::Node
     {
       std::stringstream ss;
       ss << "Next number in sequence received: ";
-      for (auto number : feedback->partial_sequence) {
+      for (auto number : feedback->sequence) {
         ss << number << " ";
       }
       RCLCPP_INFO(this->get_logger(), ss.str().c_str());

source/Tutorials/Intermediate/Writing-an-Action-Server-Client/scripts/client_2.py

@@ -40,7 +40,7 @@ def get_result_callback(self, future):
 
     def feedback_callback(self, feedback_msg):
         feedback = feedback_msg.feedback
-        self.get_logger().info('Received feedback: {0}'.format(feedback.partial_sequence))
+        self.get_logger().info('Received feedback: {0}'.format(feedback.sequence))
 
 
 def main(args=None):

source/Tutorials/Intermediate/Writing-an-Action-Server-Client/scripts/server.cpp

@@ -65,7 +65,7 @@ class FibonacciActionServer : public rclcpp::Node
     rclcpp::Rate loop_rate(1);
     const auto goal = goal_handle->get_goal();
     auto feedback = std::make_shared<Fibonacci::Feedback>();
-    auto & sequence = feedback->partial_sequence;
+    auto & sequence = feedback->sequence;
     sequence.push_back(0);
     sequence.push_back(1);
     auto result = std::make_shared<Fibonacci::Result>();

source/Tutorials/Intermediate/Writing-an-Action-Server-Client/scripts/server_3.py

@@ -22,19 +22,19 @@ def execute_callback(self, goal_handle):
         self.get_logger().info('Executing goal...')
 
         feedback_msg = Fibonacci.Feedback()
-        feedback_msg.partial_sequence = [0, 1]
+        feedback_msg.sequence = [0, 1]
 
         for i in range(1, goal_handle.request.order):
-            feedback_msg.partial_sequence.append(
-                feedback_msg.partial_sequence[i] + feedback_msg.partial_sequence[i-1])
-            self.get_logger().info('Feedback: {0}'.format(feedback_msg.partial_sequence))
+            feedback_msg.sequence.append(
+                feedback_msg.sequence[i] + feedback_msg.sequence[i-1])
+            self.get_logger().info('Feedback: {0}'.format(feedback_msg.sequence))
             goal_handle.publish_feedback(feedback_msg)
             time.sleep(1)
 
         goal_handle.succeed()
 
         result = Fibonacci.Result()
-        result.sequence = feedback_msg.partial_sequence
+        result.sequence = feedback_msg.sequence
         return result