[feature] easier user control over action goal id's
Open
Nobody has claimed this yet.
backlog
enhancement
- Dominant language
- C++
- Stars
- 805
- Forks
- 564
- Avg merge
- 1d 17h
- Merged PRs (30d)
- 27
Description
Feature request
Feature description
Currently async_send_goal simply calls generate_goal_id, which is just random bytes. It would be nice to have the following capabilities nicely supported:
- generate goal ID's that are well-formed UUIDs
- supply specific goal ID's (that come from other semantic contexts)
Implementation considerations
Here are a few ideas:
- provide an overloaded signature for
async_send_goalthat also includes a goal uuid parameter. Or as a default argument - Add a goal UUID to the send goal options.
- Be able to set a "Generator" class/function on the action client class that generates UUIDs according to a certain scheme.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start at async_send_goal and generate_goal_id, then inspect the action client’s send-goal options. Compare the proposed UUID generation and caller-supplied goal ID approaches; done means both well-formed generated IDs and specific externally supplied IDs are supported with tests covering the behavior.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- api, robotics
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 35/100