Adds support for runtime configuration of actions and services via code generation #82
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Would it be possible to get some feedback on this PR? I realize that code generation might not be the most elegant solution, but from what I understand, runtime introspection for services is only available from Jazzy onwards, and action introspection isn’t yet supported. If there’s a better or more idiomatic way to approach this that I might have missed, I’d really appreciate any suggestions and would be happy to update the implementation accordingly. |
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I was having the exact same issue (though on Jazzy) and stumbled upon this PR. Nice work @taDachs ! @jacobperron would it be possible to move forward this PR (or any other solution in general to allow runtime service/action bridge configuration)? |
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This RP implements support for the runtime configuration of services and actions. This is accomplished by using code generation to generate template code for each action and service in the currently sourced workspace at compile time, similar to how the ros1_bridge handles it.
Looking forward to your feedback