Add send_action_goals_in_new_thread param

Author: sea-bass

rosbridge_library/src/rosbridge_library/capabilities/send_action_goal.py

@@ -56,21 +56,21 @@ def __init__(self, protocol):
         Capability.__init__(self, protocol)
 
         # Register the operations that this capability provides
-        call_services_in_new_thread = (
-            protocol.node_handle.get_parameter("call_services_in_new_thread")
+        send_action_goals_in_new_thread = (
+            protocol.node_handle.get_parameter("send_action_goals_in_new_thread")
             .get_parameter_value()
             .bool_value
         )
-        if call_services_in_new_thread:
+        if send_action_goals_in_new_thread:
             # Sends the action goal in a separate thread so multiple actions can be processed simultaneously.
-            protocol.node_handle.get_logger().info("Sending action goal in new thread")
+            protocol.node_handle.get_logger().info("Sending action goals in new thread")
             protocol.register_operation(
                 "send_action_goal",
                 lambda msg: Thread(target=self.send_action_goal, args=(msg,)).start(),
             )
         else:
             # Sends the actions goal in this thread, so actions block and must be processed sequentially.
-            protocol.node_handle.get_logger().info("Sending action goal in existing thread")
+            protocol.node_handle.get_logger().info("Sending action goals in existing thread")
             protocol.register_operation("send_action_goal", self.send_action_goal)
 
         protocol.register_operation("cancel_action_goal", self.cancel_action_goal)

rosbridge_library/test/capabilities/test_action_capabilities.py

@@ -29,6 +29,7 @@ def setUp(self):
         self.executor.add_node(self.node)
 
         self.node.declare_parameter("call_services_in_new_thread", False)
+        self.node.declare_parameter("send_action_goals_in_new_thread", False)
 
         self.proto = Protocol(self._testMethodName, self.node)
         # change the log function so we can verify errors are logged

rosbridge_library/test/capabilities/test_call_service.py

@@ -40,6 +40,7 @@ def setUp(self):
         self.executor.add_node(self.node)
 
         self.node.declare_parameter("call_services_in_new_thread", False)
+        self.node.declare_parameter("send_action_goals_in_new_thread", False)
 
         # Create service servers with a separate callback group
         self.cb_group = ReentrantCallbackGroup()

rosbridge_library/test/capabilities/test_service_capabilities.py

@@ -23,6 +23,7 @@ def setUp(self):
         self.node = Node("test_service_capabilities")
 
         self.node.declare_parameter("call_services_in_new_thread", False)
+        self.node.declare_parameter("send_action_goals_in_new_thread", False)
 
         self.proto = Protocol(self._testMethodName, self.node)
         # change the log function so we can verify errors are logged

rosbridge_server/launch/rosbridge_websocket_launch.xml

@@ -14,6 +14,7 @@
 
   <arg name="use_compression" default="false" />
   <arg name="call_services_in_new_thread" default="false" />
+  <arg name="send_action_goals_in_new_thread" default="false" />
 
   <arg name="topics_glob" default="" />
   <arg name="services_glob" default="" />
@@ -35,6 +36,7 @@
       <param name="unregister_timeout" value="$(var unregister_timeout)"/>
       <param name="use_compression" value="$(var use_compression)"/>
       <param name="call_services_in_new_thread" value="$(var call_services_in_new_thread)"/>
+      <param name="send_action_goals_in_new_thread" value="$(var send_action_goals_in_new_thread)"/>
 
       <param name="topics_glob" value="$(var topics_glob)"/>
       <param name="services_glob" value="$(var services_glob)"/>
@@ -52,6 +54,7 @@
       <param name="unregister_timeout" value="$(var unregister_timeout)"/>
       <param name="use_compression" value="$(var use_compression)"/>
       <param name="call_services_in_new_thread" value="$(var call_services_in_new_thread)"/>
+      <param name="send_action_goals_in_new_thread" value="$(var send_action_goals_in_new_thread)"/>
 
       <param name="topics_glob" value="$(var topics_glob)"/>
       <param name="services_glob" value="$(var services_glob)"/>

rosbridge_server/scripts/rosbridge_websocket.py

@@ -178,6 +178,10 @@ def protocol_parameter_handling(self):
             "call_services_in_new_thread", False
         ).value
 
+        RosbridgeWebSocket.send_action_goals_in_new_thread = self.declare_parameter(
+            "send_action_goals_in_new_thread", False
+        ).value
+
         # get RosbridgeProtocol parameters
         RosbridgeWebSocket.fragment_timeout = self.declare_parameter(
             "fragment_timeout", RosbridgeWebSocket.fragment_timeout