Generate Java code for SendGoal and GetResult service definitions

Though not strictly necessary, it is nice to have definitions for these action-specific services for the purpose of writing unit tests.

Signed-off-by: Jacob Perron <[email protected]>

Author: jacobperron

rosidl_generator_java/resource/action.java.em

@@ -13,6 +13,8 @@ type_name = action.namespaced_type.name
 goal_type_name = action.goal.structure.namespaced_type.name
 result_type_name = action.result.structure.namespaced_type.name
 feedback_type_name = action.feedback.structure.namespaced_type.name
+send_goal_type_name = action.send_goal_service.namespaced_type.name
+get_result_type_name = action.get_result_service.namespaced_type.name
 
 data = {
     'package_name': package_name,
@@ -44,6 +46,22 @@ expand_template(
     output_file,
     template_basepath=template_basepath)
 
+data.update({'service': action.send_goal_service})
+output_file = os.path.join(output_dir, *namespaces[1:], send_goal_type_name + '.java')
+expand_template(
+    'srv.java.em',
+    data,
+    output_file,
+    template_basepath=template_basepath)
+
+data.update({'service': action.get_result_service})
+output_file = os.path.join(output_dir, *namespaces[1:], get_result_type_name + '.java')
+expand_template(
+    'srv.java.em',
+    data,
+    output_file,
+    template_basepath=template_basepath)
+
 action_imports = [
     'org.ros2.rcljava.common.JNIUtils',
     'org.ros2.rcljava.interfaces.ActionDefinition',