Deprecate get_status() on action client goal handles in favor of get_status_code() - #3307
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dv-picknik wants to merge 3 commits into
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dv-picknik wants to merge 3 commits into
dv-picknik wants to merge 3 commits into
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Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Signed-off-by: David Vadovszki <david.vadovszki@picknik.ai>
…status Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Signed-off-by: David Vadovszki <david.vadovszki@picknik.ai>
…code() Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Signed-off-by: David Vadovszki <david.vadovszki@picknik.ai>
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Description
Deprecates
get_status()onClientGoalHandleandGenericClientGoalHandlein favor ofget_status_code(), as proposed in #3306.This branch builds on #3292, so its first two commits are that PR. Only the last commit, "Deprecate get_status() on client goal handles in favor of get_status_code()", belongs here. I will rebase once #3292 merges.
[[deprecated("use get_status_code() instead")]]goes beforeRCLCPP_ACTION_PUBLIC, following deprecate rclcpp::spin_some and rclcpp::spin_all #2848.get_status_code()reads the status under the lock instead of callingget_status().rclcpp_actionuseget_status_code(). The out-of-range tests still callget_status()to check that it returns the raw value, insideRCPPUTILS_DEPRECATION_WARNING_OFF_START/STOP.This should not be backported. Nav2 and MoveIt 2 should switch to
get_status_code()before this merges. #3306 tracks that.Part of #3306
Is this user-facing behavior change?
Code that calls
get_status()on an action client goal handle gets a deprecation warning on rolling. Behavior does not change.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, andrclcpp_actionbuilds with no warnings.