Add 2 interfaces for configuring action client feedback subscription contents filter #1287
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…contents filter Signed-off-by: Barry Xu <barry.xu@sony.com>
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Pull request overview
This PR adds two new interfaces for configuring content filtering on action client feedback subscriptions. The functionality allows action clients to filter feedback messages based on goal IDs, improving performance by reducing unnecessary data transfer.
Changes:
- Added
rcl_action_client_configure_feedback_subscription_filter_add_goal_id()to add a goal ID to the feedback subscription filter - Added
rcl_action_client_configure_feedback_subscription_filter_remove_goal_id()to remove a goal ID from the feedback subscription filter - Added comprehensive unit and integration tests for the new functionality
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 11 comments.
| File | Description |
|---|---|
| rcl_action/include/rcl_action/action_client.h | Adds two new public API function declarations with documentation for configuring feedback subscription content filters |
| rcl_action/src/rcl_action/action_client.c | Implements the two new functions plus helper functions for converting goal IDs to strings and generating filter expressions |
| rcl_action/test/rcl_action/test_action_client.cpp | Adds unit tests for invalid inputs and basic functionality of the new filter configuration functions |
| rcl_action/test/rcl_action/test_action_communication.cpp | Adds integration tests covering various scenarios: adding one/two goal IDs, removing goal IDs, and verifying filtering behavior |
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Signed-off-by: Barry Xu <barry.xu@sony.com>
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…ter safety Signed-off-by: Barry Xu <barry.xu@sony.com>
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Description
Use Content Filtering for action feedback topic on action clients #1258
This new interface will be called in rclcpp/rclpy while action client gets Goal ID.
Is this user-facing behavior change?
No.
Did you use Generative AI?
Use github copilot (GPT-5.1-Codex) for test codes
Additional Information