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Action API corrections - #671

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mxgrey wants to merge 3 commits into
ros2-rust:mainfrom
mxgrey:action_api_update
Open

Action API corrections#671
mxgrey wants to merge 3 commits into
ros2-rust:mainfrom
mxgrey:action_api_update

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@mxgrey

@mxgrey mxgrey commented Aug 22, 2026

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This PR is just filling a few small holes in the current API for actions:

  • The CancellingGoal type is accidentally inaccessible for users to reference. This PR just adds a missing pub.
  • The goal ID is accidentally inaccessible for RequestedGoal. This PR just adds a public method for getting it.
  • When a goal transitions from just being a request to being accepted, there was no status update because rcl doesn't have an explicit status change event for that transition. This PR adds a status update to the goal response handler to change the status to accepted.

mxgrey added 3 commits August 22, 2026 13:52
Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
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