Add GoalStatusCode enum and get_status_code() to client goal handles - #3292
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jmachowinski merged 2 commits intoOct 3, 2026
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Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Signed-off-by: David Vadovszki <david.vadovszki@picknik.ai>
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Sep 30, 2026
…status Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Signed-off-by: David Vadovszki <david.vadovszki@picknik.ai>
This was referenced Oct 2, 2026
jmachowinski
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Pulls: #3292
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Description
This implements #2482.
ClientGoalHandle::get_status()andGenericClientGoalHandle::get_status()returnint8_t. Callers have to know those values areaction_msgs::msg::GoalStatus::STATUS_*constants.ResultCodedoes not fit, because it covers only the three terminal states.This adds
rclcpp_action::GoalStatusCode, anint8_tenum class intypes.hppwith all sevenGoalStatusvalues. Both goal handles get aget_status_code()that returns it.The status comes straight from the server's status topic, and the client does not check it. If a server sends a value outside the seven,
get_status_code()throwsexceptions::InvalidGoalStatusError.get_status()still returns the raw byte.The change only adds API, and the new
GenericClientGoalHandlemember is non-virtual, so existing binaries keep working.The names are open to change. I also considered
GoalState, which matches rcl_action'sGOAL_STATE_*, andget_goal_status().Deprecating
get_status()in favor ofget_status_code()will follow in its own PR.Fixes #2482
Is this user-facing behavior change?
No behavior change. New API only.
Did you use Generative AI?
Yes. Claude Code with Claude Opus 5.5 wrote the code, the tests and this description. I reviewed the change, then built and tested it.
Additional Information
I tested on rolling with rclcpp and rcl built from source. All
rclcpp_actiontests and linters pass. The package skips cppcheck on rolling. New assertions intest_client.cppandtest_generic_client.cppcheck ACCEPTED, SUCCEEDED, UNKNOWN after invalidation, and CANCELED after cancel-all. A newget_status_code_out_of_rangetest in each file publishes status 42 for a live goal and checks thatget_status()returns 42 andget_status_code()throws.