revert ed2f2c95c7

revert ROS actionlib start

src/pubsub/pubsub/pubsub_library_v3.py

@@ -16,25 +16,19 @@
 
 import rclpy
 from rclpy.node import Node
-from rclpy.action import ActionServer
-
-# How to use, please refer to:
-# Topic:
-#           - topic_talker.py
-#           - topic_listener.py
-# Service:
-#           - service_host.py
-#           - service_client.py
-# Action:
-#           - action_server.py
-#           - action_client.py
 
+# How to use:
+# from pubsub_library import MinimalPublisher
+# from pubsub_library import MinimalSubscriber
+# minimal_publisher = MinimalPublisher(NODE_NAME='minimal_pub', TOPIC_NAME='user_controller', MSG_TYPE=Usercontroller, MSG_PERIOD=0.5)
+# minimal_subscriber = MinimalSubscriber(NODE_NAME='minimal_sub', TOPIC_NAME='epos_feedback', MSG_TYPE=Eposreturn)
+# See --> talker.py, listener.py
 
 
 
 # Definition of Parent Classes
 #******************************************************************************#
-# TOPIC
+# TOPICS
 #******************************************************************************#
 
 class MinimalPublisher(Node):
@@ -181,6 +175,7 @@ class MinimalServiceProvider(Node):
         response.success = True # Change this to fit your service type
         return response
 
+
 #******************************************************************************#
 
 class MinimalServiceClientAsync(Node):
@@ -229,84 +224,3 @@ class MinimalServiceClientAsync(Node):
             return self.future.done(), response # response is of type "<service_type_name>.Response()"
         else:
             return self.future.done(), None
-
-
-
-
-#******************************************************************************#
-# ACTIONS
-#******************************************************************************#
-
-class MinimalActionServer(Node):
-    """ Minimal Action Server Class
-    Inputs:
-    * NODE_NAME: string
-    * ACT_NAME: string
-    * ACT_TYPE: action type class
-    * act_callback_input: action callback function
-
-    Return:
-    * 
-    """
-
-    def __init__(self, NODE_NAME, ACT_NAME, ACT_TYPE, act_callback_input=None):
-        self.NODE_NAME = NODE_NAME
-        self.ACT_NAME = ACT_NAME
-        self.ACT_TYPE = ACT_TYPE
-        # Check if user passed callback function
-        if act_callback_input == None:
-            self.execute_callback= self.std_act_callback
-        else:
-            self.execute_callback = act_callback_input
-        
-        # Init above laying class "Node" (super class)
-        super().__init__(self.NODE_NAME)
-        print("\tStarting Action Server:\t%s"%(self.ACT_NAME))
-        self._action_server = ActionServer(self, self.ACT_TYPE, self.ACT_NAME, self.execute_callback)
-    
-
-    # standard action callback
-    def std_act_callback(self, goal_handle):
-        """ Standard Action Callback Method  
-
-        Replace this method by inputting a custom callback method using 'act_callback_input'.  
-        This method MUST return a variable of the type 'action result',  
-        eg. result = ACTION_TYPE.Result()
-        """
-        self.get_logger().info('Executing goal...')
-        #################
-        # Action Method #
-        #     here      #
-        #################
-        result = self.ACT_TYPE.Result()
-        return result
-    
-#******************************************************************************#
-
-class MinimalActionClient(Node):
-    """ Minimal Action Client
-    Inputs:
-    * NODE_NAME: string
-    * ACT_NAME: string
-    * ACT_TYPE: action type class
-    * act_callback_input: action callback function
-
-    Return:
-    * 
-    """
-
-    def __init__(self, NODE_NAME, ACT_NAME, ACT_TYPE, act_callback_input=None):
-        self.NODE_NAME = NODE_NAME
-        self.ACT_NAME = ACT_NAME
-        self.ACT_TYPE = ACT_TYPE
-        
-        # Init above laying class "Node" (super class)
-        super().__init__(self.NODE_NAME)
-        print("\tStarting Action Client for:\t%s"%(self.ACT_NAME))
-        self._action_client = ActionClient(self, self.ACT_TYPE, self.ACT_NAME)
-    
-    def send_goal(self, input):
-        return
-    
-    def abort_goal(self):
-        return