Add new capabilities to rosbridge protocol.py

RobotWebTools · Oct 31, 2023 · d78c3bf · d78c3bf
1 parent 57b1467
commit d78c3bf
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Showing 3 changed files with 13 additions and 11 deletions.
diff --git a/rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py b/rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py
@@ -94,7 +94,6 @@ def execute_callback(self, goal):
         del self.goal_handles[goal_id]
         return result
 
-
     def handle_feedback(self, goal_id, feedback):
         """
         Called by the ActionFeedback capability to handle action feedback from the external client.
@@ -104,7 +103,6 @@ def handle_feedback(self, goal_id, feedback):
         else:
             self.protocol.log("warning", f"Received action feedback for unrecognized id: {goal_id}")
 
-
     def handle_result(self, goal_id, res):
         """
         Called by the ActionResult capability to handle an action result from the external client.

diff --git a/rosbridge_library/src/rosbridge_library/rosbridge_protocol.py b/rosbridge_library/src/rosbridge_library/rosbridge_protocol.py
@@ -30,15 +30,15 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
+from rosbridge_library.capabilities.action_feedback import ActionFeedback
+from rosbridge_library.capabilities.action_result import ActionResult
 from rosbridge_library.capabilities.advertise import Advertise
-
-# imports for external service_server
+from rosbridge_library.capabilities.advertise_action import AdvertiseAction
 from rosbridge_library.capabilities.advertise_service import AdvertiseService
 from rosbridge_library.capabilities.call_service import CallService
-
-# imports for defragmentation
 from rosbridge_library.capabilities.defragmentation import Defragment
 from rosbridge_library.capabilities.publish import Publish
+from rosbridge_library.capabilities.send_action_goal import SendActionGoal
 from rosbridge_library.capabilities.service_response import ServiceResponse
 from rosbridge_library.capabilities.subscribe import Subscribe
 from rosbridge_library.capabilities.unadvertise_service import UnadvertiseService
@@ -49,14 +49,18 @@ class RosbridgeProtocol(Protocol):
     """Adds the handlers for the rosbridge opcodes"""
 
     rosbridge_capabilities = [
-        CallService,
         Advertise,
         Publish,
         Subscribe,
         Defragment,
         AdvertiseService,
+        CallService,
         ServiceResponse,
         UnadvertiseService,
+        AdvertiseAction,
+        ActionFeedback,
+        ActionResult,
+        SendActionGoal,
     ]
 
     print("registered capabilities (classes):")

diff --git a/rosbridge_library/test/capabilities/test_action_capabilities.py b/rosbridge_library/test/capabilities/test_action_capabilities.py
@@ -4,12 +4,11 @@
 from json import dumps, loads
 from threading import Thread
 
-from example_interfaces.action._fibonacci import Fibonacci_FeedbackMessage
-
 import rclpy
+from example_interfaces.action._fibonacci import Fibonacci_FeedbackMessage
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
-from rclpy.qos import DurabilityPolicy, ReliabilityPolicy, QoSProfile
+from rclpy.qos import DurabilityPolicy, QoSProfile, ReliabilityPolicy
 from rosbridge_library.capabilities.action_feedback import ActionFeedback
 from rosbridge_library.capabilities.action_result import ActionResult
 from rosbridge_library.capabilities.advertise_action import AdvertiseAction
@@ -148,7 +147,8 @@ def test_execute_advertised_action(self):
             Fibonacci_FeedbackMessage,
             f"{action_path}/_action/feedback",
             self.feedback_subscriber_cb,
-            sub_qos_profile)
+            sub_qos_profile,
+        )
         time.sleep(0.1)
 
         feedback_msg = loads(