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…ch cancel Treating CancelGoal as an action type (and omitting goals_canceling) produced a RIHS that diverges from ROS, so cancel queries never reached the server. (cherry picked from commit 3f1645e) Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
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Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
Signed-off-by: Tyler Weaver <Tyler.Weaver@kuka.ai>
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This fixes ROS wire compatibility gaps in dynamic schemas/CDR and action/service handling. Dynamic messages preserve native scalar identities, string bounds, wide strings, big-endian input, and fieldless-message bytes; public loaders accept ROS IDL and expose complete service/action schema sets. Passive inspectors can parse topic identities and reuse the context session through public APIs. Actions preserve result status, use the node clock, isolate cancel-one requests, and keep protocol requests responsive without taking cancellation ownership from manual handlers; service reply errors remain distinguishable from timeouts and missing replies.
This draft includes the CancelGoal hash fix from #354 and uses the parser fixes proposed in tier4/idl_parser#3. The commits separate the protocol repairs, loader additions, regression tests, and formatting cleanup.
Validation: 655 default tests passed (3 skipped), followed by focused topic-parser and shared-session regressions, 38
hutests passed, strict Clippy passed for default targets andhu, and ROS Jazzy/Lyrical serialization, hashes, services, parameters, actions, and router-restart checks passed. The contributor script's SHM, distro-feature, documentation-link, example-build, and example-coverage checks passed; formatting was repaired and rechecked. The WASM plugin build remains unverified becausewasm32-wasip2is not installed here, and optional mdbook tests were skipped because mdbook is unavailable.