AS: adding first phase of orientation

ros2_ws/install/examples_rclpy_minimal_action_server/lib/examples_rclpy_minimal_action_server/server

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'examples-rclpy-minimal-action-server==0.15.3','console_scripts','server'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'examples-rclpy-minimal-action-server==0.15.3'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('examples-rclpy-minimal-action-server==0.15.3', 'console_scripts', 'server')())

ros2_ws/install/examples_rclpy_minimal_action_server/lib/examples_rclpy_minimal_action_server/server_defer

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'examples-rclpy-minimal-action-server==0.15.3','console_scripts','server_defer'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'examples-rclpy-minimal-action-server==0.15.3'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('examples-rclpy-minimal-action-server==0.15.3', 'console_scripts', 'server_defer')())

ros2_ws/install/examples_rclpy_minimal_action_server/lib/examples_rclpy_minimal_action_server/server_not_composable

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'examples-rclpy-minimal-action-server==0.15.3','console_scripts','server_not_composable'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'examples-rclpy-minimal-action-server==0.15.3'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('examples-rclpy-minimal-action-server==0.15.3', 'console_scripts', 'server_not_composable')())

ros2_ws/install/examples_rclpy_minimal_action_server/lib/examples_rclpy_minimal_action_server/server_queue_goals

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'examples-rclpy-minimal-action-server==0.15.3','console_scripts','server_queue_goals'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'examples-rclpy-minimal-action-server==0.15.3'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('examples-rclpy-minimal-action-server==0.15.3', 'console_scripts', 'server_queue_goals')())

ros2_ws/install/examples_rclpy_minimal_action_server/lib/examples_rclpy_minimal_action_server/server_single_goal

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'examples-rclpy-minimal-action-server==0.15.3','console_scripts','server_single_goal'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'examples-rclpy-minimal-action-server==0.15.3'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('examples-rclpy-minimal-action-server==0.15.3', 'console_scripts', 'server_single_goal')())

ros2_ws/install/examples_rclpy_minimal_action_server/lib/python3.10/site-packages/examples_rclpy_minimal_action_server-0.15.3-py3.10.egg-info/PKG-INFO

@@ -0,0 +1,19 @@
+Metadata-Version: 2.1
+Name: examples-rclpy-minimal-action-server
+Version: 0.15.3
+Summary: Examples of action servers using rclpy.
+Home-page: UNKNOWN
+Author: Jacob Perron
+Author-email: jacob@openrobotics.org
+Maintainer: Aditya Pande, Shane Loretz
+Maintainer-email: aditya.pande@openrobotics.org, shane@openrobotics.org
+License: Apache License, Version 2.0
+Keywords: ROS
+Platform: UNKNOWN
+Classifier: Intended Audience :: Developers
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Programming Language :: Python
+Classifier: Topic :: Software Development
+
+UNKNOWN
+

ros2_ws/install/examples_rclpy_minimal_action_server/lib/python3.10/site-packages/examples_rclpy_minimal_action_server-0.15.3-py3.10.egg-info/SOURCES.txt

@@ -0,0 +1,20 @@
+package.xml
+setup.cfg
+setup.py
+../../../../../build/examples_rclpy_minimal_action_server/examples_rclpy_minimal_action_server.egg-info/PKG-INFO
+../../../../../build/examples_rclpy_minimal_action_server/examples_rclpy_minimal_action_server.egg-info/SOURCES.txt
+../../../../../build/examples_rclpy_minimal_action_server/examples_rclpy_minimal_action_server.egg-info/dependency_links.txt
+../../../../../build/examples_rclpy_minimal_action_server/examples_rclpy_minimal_action_server.egg-info/entry_points.txt
+../../../../../build/examples_rclpy_minimal_action_server/examples_rclpy_minimal_action_server.egg-info/requires.txt
+../../../../../build/examples_rclpy_minimal_action_server/examples_rclpy_minimal_action_server.egg-info/top_level.txt
+../../../../../build/examples_rclpy_minimal_action_server/examples_rclpy_minimal_action_server.egg-info/zip-safe
+examples_rclpy_minimal_action_server/__init__.py
+examples_rclpy_minimal_action_server/server.py
+examples_rclpy_minimal_action_server/server_defer.py
+examples_rclpy_minimal_action_server/server_not_composable.py
+examples_rclpy_minimal_action_server/server_queue_goals.py
+examples_rclpy_minimal_action_server/server_single_goal.py
+resource/examples_rclpy_minimal_action_server
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py

ros2_ws/install/examples_rclpy_minimal_action_server/lib/python3.10/site-packages/examples_rclpy_minimal_action_server-0.15.3-py3.10.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

ros2_ws/install/examples_rclpy_minimal_action_server/lib/python3.10/site-packages/examples_rclpy_minimal_action_server-0.15.3-py3.10.egg-info/entry_points.txt

@@ -0,0 +1,7 @@
+[console_scripts]
+server = examples_rclpy_minimal_action_server.server:main
+server_defer = examples_rclpy_minimal_action_server.server_defer:main
+server_not_composable = examples_rclpy_minimal_action_server.server_not_composable:main
+server_queue_goals = examples_rclpy_minimal_action_server.server_queue_goals:main
+server_single_goal = examples_rclpy_minimal_action_server.server_single_goal:main
+

ros2_ws/install/examples_rclpy_minimal_action_server/lib/python3.10/site-packages/examples_rclpy_minimal_action_server-0.15.3-py3.10.egg-info/requires.txt

@@ -0,0 +1 @@
+setuptools

ros2_ws/install/examples_rclpy_minimal_action_server/lib/python3.10/site-packages/examples_rclpy_minimal_action_server-0.15.3-py3.10.egg-info/top_level.txt

@@ -0,0 +1 @@
+examples_rclpy_minimal_action_server

ros2_ws/install/examples_rclpy_minimal_action_server/lib/python3.10/site-packages/examples_rclpy_minimal_action_server-0.15.3-py3.10.egg-info/zip-safe

@@ -0,0 +1 @@
+

ros2_ws/install/examples_rclpy_minimal_action_server/lib/python3.10/site-packages/examples_rclpy_minimal_action_server/server.py

@@ -0,0 +1,107 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import time
+
+from example_interfaces.action import Fibonacci
+
+import rclpy
+from rclpy.action import ActionServer, CancelResponse, GoalResponse
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.executors import MultiThreadedExecutor
+from rclpy.node import Node
+
+
+class MinimalActionServer(Node):
+
+    def __init__(self):
+        super().__init__('minimal_action_server')
+
+        self._action_server = ActionServer(
+            self,
+            Fibonacci,
+            'fibonacci',
+            execute_callback=self.execute_callback,
+            callback_group=ReentrantCallbackGroup(),
+            goal_callback=self.goal_callback,
+            cancel_callback=self.cancel_callback)
+
+    def destroy(self):
+        self._action_server.destroy()
+        super().destroy_node()
+
+    def goal_callback(self, goal_request):
+        """Accept or reject a client request to begin an action."""
+        # This server allows multiple goals in parallel
+        self.get_logger().info('Received goal request')
+        return GoalResponse.ACCEPT
+
+    def cancel_callback(self, goal_handle):
+        """Accept or reject a client request to cancel an action."""
+        self.get_logger().info('Received cancel request')
+        return CancelResponse.ACCEPT
+
+    async def execute_callback(self, goal_handle):
+        """Execute a goal."""
+        self.get_logger().info('Executing goal...')
+
+        # Append the seeds for the Fibonacci sequence
+        feedback_msg = Fibonacci.Feedback()
+        feedback_msg.sequence = [0, 1]
+
+        # Start executing the action
+        for i in range(1, goal_handle.request.order):
+            if goal_handle.is_cancel_requested:
+                goal_handle.canceled()
+                self.get_logger().info('Goal canceled')
+                return Fibonacci.Result()
+
+            # Update Fibonacci sequence
+            feedback_msg.sequence.append(feedback_msg.sequence[i] + feedback_msg.sequence[i-1])
+
+            self.get_logger().info('Publishing feedback: {0}'.format(feedback_msg.sequence))
+
+            # Publish the feedback
+            goal_handle.publish_feedback(feedback_msg)
+
+            # Sleep for demonstration purposes
+            time.sleep(1)
+
+        goal_handle.succeed()
+
+        # Populate result message
+        result = Fibonacci.Result()
+        result.sequence = feedback_msg.sequence
+
+        self.get_logger().info('Returning result: {0}'.format(result.sequence))
+
+        return result
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    minimal_action_server = MinimalActionServer()
+
+    # Use a MultiThreadedExecutor to enable processing goals concurrently
+    executor = MultiThreadedExecutor()
+
+    rclpy.spin(minimal_action_server, executor=executor)
+
+    minimal_action_server.destroy()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

ros2_ws/install/examples_rclpy_minimal_action_server/lib/python3.10/site-packages/examples_rclpy_minimal_action_server/server_defer.py

@@ -0,0 +1,121 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import time
+
+from example_interfaces.action import Fibonacci
+
+import rclpy
+from rclpy.action import ActionServer, CancelResponse, GoalResponse
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.executors import MultiThreadedExecutor
+from rclpy.node import Node
+
+
+class MinimalActionServer(Node):
+
+    def __init__(self):
+        super().__init__('minimal_action_server')
+
+        self._goal_handle = None
+
+        self._action_server = ActionServer(
+            self,
+            Fibonacci,
+            'fibonacci',
+            execute_callback=self.execute_callback,
+            callback_group=ReentrantCallbackGroup(),
+            goal_callback=self.goal_callback,
+            handle_accepted_callback=self.handle_accepted_callback,
+            cancel_callback=self.cancel_callback)
+
+    def destroy(self):
+        self._action_server.destroy()
+        super().destroy_node()
+
+    def goal_callback(self, goal_request):
+        """Accept or reject a client request to begin an action."""
+        self.get_logger().info('Received goal request')
+        return GoalResponse.ACCEPT
+
+    def handle_accepted_callback(self, goal_handle):
+        """Provide a handle to an accepted goal."""
+        self.get_logger().info('Deferring execution...')
+        self._goal_handle = goal_handle
+        self._timer = self.create_timer(3.0, self.timer_callback)
+
+    def cancel_callback(self, goal_handle):
+        """Accept or reject a client request to cancel an action."""
+        self.get_logger().info('Received cancel request')
+        return CancelResponse.ACCEPT
+
+    def timer_callback(self):
+        # Execute the defered goal
+        if self._goal_handle is not None:
+            self._goal_handle.execute()
+        self._timer.cancel()
+
+    async def execute_callback(self, goal_handle):
+        """Execute a goal."""
+        self.get_logger().info('Executing goal...')
+
+        # Append the seeds for the Fibonacci sequence
+        feedback_msg = Fibonacci.Feedback()
+        feedback_msg.sequence = [0, 1]
+
+        # Start executing the action
+        for i in range(1, goal_handle.request.order):
+            if goal_handle.is_cancel_requested:
+                goal_handle.canceled()
+                self.get_logger().info('Goal canceled')
+                return Fibonacci.Result()
+
+            # Update Fibonacci sequence
+            feedback_msg.sequence.append(feedback_msg.sequence[i] + feedback_msg.sequence[i-1])
+
+            self.get_logger().info('Publishing feedback: {0}'.format(feedback_msg.sequence))
+
+            # Publish the feedback
+            goal_handle.publish_feedback(feedback_msg)
+
+            # Sleep for demonstration purposes
+            time.sleep(1)
+
+        goal_handle.succeed()
+
+        # Populate result message
+        result = Fibonacci.Result()
+        result.sequence = feedback_msg.sequence
+
+        self.get_logger().info('Returning result: {0}'.format(result.sequence))
+
+        return result
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    minimal_action_server = MinimalActionServer()
+
+    # Use a MultiThreadedExecutor to enable processing goals concurrently
+    executor = MultiThreadedExecutor()
+
+    rclpy.spin(minimal_action_server, executor=executor)
+
+    minimal_action_server.destroy()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

ros2_ws/install/examples_rclpy_minimal_action_server/lib/python3.10/site-packages/examples_rclpy_minimal_action_server/server_not_composable.py

@@ -0,0 +1,99 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import time
+
+from example_interfaces.action import Fibonacci
+
+import rclpy
+from rclpy.action import ActionServer, CancelResponse
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.executors import MultiThreadedExecutor
+
+
+logger = None
+
+
+def cancel_callback(goal_handle):
+    logger.info('Received cancel request')
+    return CancelResponse.ACCEPT
+
+
+async def execute_callback(goal_handle):
+    """Execute the goal."""
+    logger.info('Executing goal...')
+
+    # Append the seeds for the fibonacci sequence
+    feedback_msg = Fibonacci.Feedback()
+    feedback_msg.sequence = [0, 1]
+
+    # Start executing the action
+    for i in range(1, goal_handle.request.order):
+        if goal_handle.is_cancel_requested:
+            goal_handle.canceled()
+            logger.info('Goal canceled')
+            return Fibonacci.Result()
+
+        # Update Fibonacci sequence
+        feedback_msg.sequence.append(feedback_msg.sequence[i] + feedback_msg.sequence[i-1])
+
+        logger.info('Publishing feedback: {0}'.format(feedback_msg.sequence))
+
+        # Publish feedback
+        goal_handle.publish_feedback(feedback_msg)
+
+        # Sleep for demonstration purposes
+        time.sleep(1)
+
+    goal_handle.succeed()
+
+    # Populate result message
+    result = Fibonacci.Result()
+    result.sequence = feedback_msg.sequence
+
+    logger.info('Returning result: {0}'.format(result.sequence))
+
+    return result
+
+
+def main(args=None):
+    global logger
+    rclpy.init(args=args)
+
+    node = rclpy.create_node('minimal_action_server')
+    logger = node.get_logger()
+
+    # Use a ReentrantCallbackGroup to enable processing multiple goals concurrently
+    # Default goal callback accepts all goals
+    # Default cancel callback rejects cancel requests
+    action_server = ActionServer(
+        node,
+        Fibonacci,
+        'fibonacci',
+        execute_callback=execute_callback,
+        cancel_callback=cancel_callback,
+        callback_group=ReentrantCallbackGroup())
+
+    # Use a MultiThreadedExecutor to enable processing goals concurrently
+    executor = MultiThreadedExecutor()
+
+    rclpy.spin(node, executor=executor)
+
+    action_server.destroy()
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

ros2_ws/install/examples_rclpy_minimal_action_server/lib/python3.10/site-packages/examples_rclpy_minimal_action_server/server_queue_goals.py

@@ -0,0 +1,137 @@
+# Copyright 2018-2020 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import collections
+import threading
+import time
+
+from example_interfaces.action import Fibonacci
+
+import rclpy
+from rclpy.action import ActionServer, CancelResponse, GoalResponse
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.executors import MultiThreadedExecutor
+from rclpy.node import Node
+
+
+class MinimalActionServer(Node):
+
+    def __init__(self):
+        super().__init__('minimal_action_server')
+        self._goal_queue = collections.deque()
+        self._goal_queue_lock = threading.Lock()
+        self._current_goal = None
+
+        self._action_server = ActionServer(
+            self,
+            Fibonacci,
+            'fibonacci',
+            handle_accepted_callback=self.handle_accepted_callback,
+            execute_callback=self.execute_callback,
+            goal_callback=self.goal_callback,
+            cancel_callback=self.cancel_callback,
+            callback_group=ReentrantCallbackGroup())
+
+    def destroy(self):
+        self._action_server.destroy()
+        super().destroy_node()
+
+    def handle_accepted_callback(self, goal_handle):
+        """Start or defer execution of an already accepted goal."""
+        with self._goal_queue_lock:
+            if self._current_goal is not None:
+                # Put incoming goal in the queue
+                self._goal_queue.append(goal_handle)
+                self.get_logger().info('Goal put in the queue')
+            else:
+                # Start goal execution right away
+                self._current_goal = goal_handle
+                self._current_goal.execute()
+
+    def goal_callback(self, goal_request):
+        """Accept or reject a client request to begin an action."""
+        self.get_logger().info('Received goal request')
+        return GoalResponse.ACCEPT
+
+    def cancel_callback(self, goal_handle):
+        """Accept or reject a client request to cancel an action."""
+        self.get_logger().info('Received cancel request')
+        return CancelResponse.ACCEPT
+
+    def execute_callback(self, goal_handle):
+        """Execute a goal."""
+        try:
+            self.get_logger().info('Executing goal...')
+
+            # Append the seeds for the Fibonacci sequence
+            feedback_msg = Fibonacci.Feedback()
+            feedback_msg.sequence = [0, 1]
+
+            # Start executing the action
+            for i in range(1, goal_handle.request.order):
+                if goal_handle.is_cancel_requested:
+                    goal_handle.canceled()
+                    self.get_logger().info('Goal canceled')
+                    return Fibonacci.Result()
+
+                # Update Fibonacci sequence
+                feedback_msg.sequence.append(
+                    feedback_msg.sequence[i] + feedback_msg.sequence[i-1])
+
+                self.get_logger().info(
+                    'Publishing feedback: {0}'.format(feedback_msg.sequence))
+
+                # Publish the feedback
+                goal_handle.publish_feedback(feedback_msg)
+
+                # Sleep for demonstration purposes
+                time.sleep(1)
+
+            goal_handle.succeed()
+
+            # Populate result message
+            result = Fibonacci.Result()
+            result.sequence = feedback_msg.sequence
+
+            self.get_logger().info(
+                'Returning result: {0}'.format(result.sequence))
+
+            return result
+        finally:
+            with self._goal_queue_lock:
+                try:
+                    # Start execution of the next goal in the queue.
+                    self._current_goal = self._goal_queue.popleft()
+                    self.get_logger().info('Next goal pulled from the queue')
+                    self._current_goal.execute()
+                except IndexError:
+                    # No goal in the queue.
+                    self._current_goal = None
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    minimal_action_server = MinimalActionServer()
+
+    executor = MultiThreadedExecutor()
+
+    rclpy.spin(minimal_action_server, executor=executor)
+
+    minimal_action_server.destroy()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

ros2_ws/install/examples_rclpy_minimal_action_server/lib/python3.10/site-packages/examples_rclpy_minimal_action_server/server_single_goal.py

@@ -0,0 +1,131 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import threading
+import time
+
+from example_interfaces.action import Fibonacci
+
+import rclpy
+from rclpy.action import ActionServer, CancelResponse, GoalResponse
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.executors import MultiThreadedExecutor
+from rclpy.node import Node
+
+
+class MinimalActionServer(Node):
+    """Minimal action server that processes one goal at a time."""
+
+    def __init__(self):
+        super().__init__('minimal_action_server')
+        self._goal_handle = None
+        self._goal_lock = threading.Lock()
+        self._action_server = ActionServer(
+            self,
+            Fibonacci,
+            'fibonacci',
+            execute_callback=self.execute_callback,
+            goal_callback=self.goal_callback,
+            handle_accepted_callback=self.handle_accepted_callback,
+            cancel_callback=self.cancel_callback,
+            callback_group=ReentrantCallbackGroup())
+
+    def destroy(self):
+        self._action_server.destroy()
+        super().destroy_node()
+
+    def goal_callback(self, goal_request):
+        """Accept or reject a client request to begin an action."""
+        self.get_logger().info('Received goal request')
+        return GoalResponse.ACCEPT
+
+    def handle_accepted_callback(self, goal_handle):
+        with self._goal_lock:
+            # This server only allows one goal at a time
+            if self._goal_handle is not None and self._goal_handle.is_active:
+                self.get_logger().info('Aborting previous goal')
+                # Abort the existing goal
+                self._goal_handle.abort()
+            self._goal_handle = goal_handle
+
+        goal_handle.execute()
+
+    def cancel_callback(self, goal):
+        """Accept or reject a client request to cancel an action."""
+        self.get_logger().info('Received cancel request')
+        return CancelResponse.ACCEPT
+
+    def execute_callback(self, goal_handle):
+        """Execute the goal."""
+        self.get_logger().info('Executing goal...')
+
+        # Append the seeds for the Fibonacci sequence
+        feedback_msg = Fibonacci.Feedback()
+        feedback_msg.sequence = [0, 1]
+
+        # Start executing the action
+        for i in range(1, goal_handle.request.order):
+            # If goal is flagged as no longer active (ie. another goal was accepted),
+            # then stop executing
+            if not goal_handle.is_active:
+                self.get_logger().info('Goal aborted')
+                return Fibonacci.Result()
+
+            if goal_handle.is_cancel_requested:
+                goal_handle.canceled()
+                self.get_logger().info('Goal canceled')
+                return Fibonacci.Result()
+
+            # Update Fibonacci sequence
+            feedback_msg.sequence.append(feedback_msg.sequence[i] + feedback_msg.sequence[i-1])
+
+            self.get_logger().info('Publishing feedback: {0}'.format(feedback_msg.sequence))
+
+            # Publish the feedback
+            goal_handle.publish_feedback(feedback_msg)
+
+            # Sleep for demonstration purposes
+            time.sleep(1)
+
+        with self._goal_lock:
+            if not goal_handle.is_active:
+                self.get_logger().info('Goal aborted')
+                return Fibonacci.Result()
+
+            goal_handle.succeed()
+
+        # Populate result message
+        result = Fibonacci.Result()
+        result.sequence = feedback_msg.sequence
+
+        self.get_logger().info('Returning result: {0}'.format(result.sequence))
+
+        return result
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    action_server = MinimalActionServer()
+
+    # We use a MultiThreadedExecutor to handle incoming goal requests concurrently
+    executor = MultiThreadedExecutor()
+    rclpy.spin(action_server, executor=executor)
+
+    action_server.destroy()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

ros2_ws/install/examples_rclpy_minimal_action_server/share/colcon-core/packages/examples_rclpy_minimal_action_server

@@ -0,0 +1 @@
+example_interfaces:rclpy

ros2_ws/install/examples_rclpy_minimal_action_server/share/examples_rclpy_minimal_action_server/hook/ament_prefix_path.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;

ros2_ws/install/examples_rclpy_minimal_action_server/share/examples_rclpy_minimal_action_server/hook/ament_prefix_path.ps1

@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value AMENT_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"

ros2_ws/install/examples_rclpy_minimal_action_server/share/examples_rclpy_minimal_action_server/hook/ament_prefix_path.sh

@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value AMENT_PREFIX_PATH "$COLCON_CURRENT_PREFIX"

ros2_ws/install/examples_rclpy_minimal_action_server/share/examples_rclpy_minimal_action_server/hook/pythonpath.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;lib/python3.10/site-packages

ros2_ws/install/examples_rclpy_minimal_action_server/share/examples_rclpy_minimal_action_server/hook/pythonpath.ps1

@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.10/site-packages"

ros2_ws/install/examples_rclpy_minimal_action_server/share/examples_rclpy_minimal_action_server/hook/pythonpath.sh

@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.10/site-packages"

ros2_ws/install/examples_rclpy_minimal_action_server/share/examples_rclpy_minimal_action_server/package.bash

@@ -0,0 +1,31 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/examples_rclpy_minimal_action_server/package.sh"
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX

ros2_ws/install/examples_rclpy_minimal_action_server/share/examples_rclpy_minimal_action_server/package.dsv

@@ -0,0 +1,6 @@
+source;share/examples_rclpy_minimal_action_server/hook/pythonpath.ps1
+source;share/examples_rclpy_minimal_action_server/hook/pythonpath.dsv
+source;share/examples_rclpy_minimal_action_server/hook/pythonpath.sh
+source;share/examples_rclpy_minimal_action_server/hook/ament_prefix_path.ps1
+source;share/examples_rclpy_minimal_action_server/hook/ament_prefix_path.dsv
+source;share/examples_rclpy_minimal_action_server/hook/ament_prefix_path.sh

ros2_ws/install/examples_rclpy_minimal_action_server/share/examples_rclpy_minimal_action_server/package.ps1

@@ -0,0 +1,116 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  $_duplicate=""
+  # start with no values
+  $_all_values=""
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(";") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -eq $_value) {
+          $_duplicate="1"
+        }
+        if ($_all_values) {
+          $_all_values="${_all_values};$_"
+        } else {
+          $_all_values="$_"
+        }
+      }
+    }
+  }
+  # append only non-duplicates
+  if (!$_duplicate) {
+    # avoid leading separator
+    if ($_all_values) {
+      $_all_values="${_all_values};${_value}"
+    } else {
+      $_all_values="${_value}"
+    }
+  }
+
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  # start with the new value
+  $_all_values="$_value"
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(";") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -ne $_value) {
+          # keep non-duplicate values
+          $_all_values="${_all_values};$_"
+        }
+      }
+    }
+  }
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+  param (
+    $_colcon_package_source_powershell_script
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_package_source_powershell_script) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_package_source_powershell_script'"
+    }
+    . "$_colcon_package_source_powershell_script"
+  } else {
+    Write-Error "not found: '$_colcon_package_source_powershell_script'"
+  }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/examples_rclpy_minimal_action_server/hook/pythonpath.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/examples_rclpy_minimal_action_server/hook/ament_prefix_path.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX

ros2_ws/install/examples_rclpy_minimal_action_server/share/examples_rclpy_minimal_action_server/package.sh

@@ -0,0 +1,87 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  # workaround SH_WORD_SPLIT not being set in zsh
+  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+    colcon_zsh_convert_to_array _values
+  fi
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  # restore the field separator
+  IFS=$_colcon_prepend_unique_value_IFS
+  unset _colcon_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/root/ros2_ws/install/examples_rclpy_minimal_action_server"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
+    echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+    unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+    return 1
+  fi
+  COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
+fi
+unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh hooks
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/examples_rclpy_minimal_action_server/hook/pythonpath.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/examples_rclpy_minimal_action_server/hook/ament_prefix_path.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks

ros2_ws/install/examples_rclpy_minimal_action_server/share/examples_rclpy_minimal_action_server/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>examples_rclpy_minimal_action_server</name>
+  <version>0.15.3</version>
+  <description>Examples of minimal action servers using rclpy.</description>
+  <maintainer email="sloretz@openrobotics.org">Shane Loretz</maintainer>
+  <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
+  <license>Apache License 2.0</license>
+
+  <author email="jacob@openrobotics.org">Jacob Perron</author>
+
+  <exec_depend>example_interfaces</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+
+  <!-- These test dependencies are optional
+  Their purpose is to make sure that the code passes the linters -->
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros2_ws/install/examples_rclpy_minimal_action_server/share/examples_rclpy_minimal_action_server/package.zsh

@@ -0,0 +1,42 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/examples_rclpy_minimal_action_server/package.sh"
+unset convert_zsh_to_array
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX