micro-ROS · pablogs9 · Sep 25, 2024 · Sep 25, 2024
diff --git a/built_packages b/built_packages
@@ -9,7 +9,7 @@ https://github.com/eProsima/Micro-CDR.git ed4fd513a24a53b93d548d342cb7aa0a18716f
 https://github.com/eProsima/Micro-XRCE-DDS-Client.git 83f129a80770a09aac9e823896ecbf6a0eddf0fc
 https://github.com/micro-ROS/micro_ros_msgs.git 4f1dbf42db9e35b22525e3d408730a450eeb4eea
 https://github.com/micro-ROS/micro_ros_utilities a593e18e745c7fc01499e07b9cf3fb9af1ab459f
-https://github.com/micro-ROS/rcl 4bdb628e529a51f5512d2a2021f9bf154692e7b8
+https://github.com/micro-ROS/rcl 0ea24e8a5c8a76ef737d29622316bedcbd8d688f
 https://github.com/micro-ROS/rcutils f4e8bb9454b5ae0bf9a6b2a6581f2b429872c3ef
 https://github.com/micro-ROS/rmw-microxrcedds.git d4d26af5d4ffa9f5a0874fb147444383987abca8
 https://github.com/micro-ROS/rosidl_typesupport.git 16487c1ab537b5fdb34b936f2569fcf10b5aff54
@@ -19,10 +19,10 @@ https://github.com/ros2/ament_cmake_ros.git 2fc2c6baada47130ff3c2fbc5265a9ec782d
 https://github.com/ros2/common_interfaces.git d685509e9cb9f80bd320a347f2db954a73397ae7
 https://github.com/ros2/example_interfaces.git dec9e55175f95f0feecc46213df3a26c8543313f
 https://github.com/ros2/libyaml_vendor.git f4ccfc67e7ba2ec4e77170d105c1da0133fa3971
-https://github.com/ros2/rcl.git 3762d862df6e52ea173a167a9a40de4743267ea8
+https://github.com/ros2/rcl.git 1e565d56551f193b5cb1461a6ed71015508f7485
 https://github.com/ros2/rcl_interfaces.git f6b3741d921ef5414125091b2ccc74b863be3c24
 https://github.com/ros2/rcl_logging.git 4d186fac565caa7dfb2e21b367bec8c074b62835
-https://github.com/ros2/rclc 995cda8c68456c7477ed103d9419a161fd068960
+https://github.com/ros2/rclc b4e3b9c4f6456b4cdf957296a1ad27c842bf91da
 https://github.com/ros2/rcpputils.git 10939f92d75ab0c0d8caea6b979110cbdcc5d3a5
 https://github.com/ros2/rmw.git f4105b162277cdec8ad62e47cbf52aead073d277
 https://github.com/ros2/rmw_implementation.git b103174ff42ac382fa0e3e3fef32145721fcfd63

diff --git a/src/cortex-m0plus/libmicroros.a b/src/cortex-m0plus/libmicroros.a
diff --git a/src/cortex-m3/libmicroros.a b/src/cortex-m3/libmicroros.a
diff --git a/src/cortex-m4/libmicroros.a b/src/cortex-m4/libmicroros.a
diff --git a/src/cortex-m7/fpv5-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-d16-softfp/libmicroros.a
diff --git a/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a
diff --git a/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a
diff --git a/src/esp32/libmicroros.a b/src/esp32/libmicroros.a
diff --git a/src/imxrt1062/fpv5-d16-hard/libmicroros.a b/src/imxrt1062/fpv5-d16-hard/libmicroros.a
diff --git a/src/mk20dx256/libmicroros.a b/src/mk20dx256/libmicroros.a
diff --git a/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a b/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a
diff --git a/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a b/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a
diff --git a/src/rcl/types.h b/src/rcl/types.h
@@ -127,8 +127,26 @@ typedef rmw_ret_t rcl_ret_t;
 #define RCL_RET_LIFECYCLE_STATE_NOT_REGISTERED 3001
 
 // rcl action specific ret codes in 40XX
+/// Action name does not pass validation return code.
+#define RCL_RET_ACTION_NAME_INVALID 4000
 /// No terminal timestamp for the goal as it has not reached a terminal state.
-#define RCL_ACTION_RET_NOT_TERMINATED_YET 4001
+#define RCL_RET_ACTION_NOT_TERMINATED_YET 4001
+/// Action goal accepted return code.
+#define RCL_RET_ACTION_GOAL_ACCEPTED 4100
+/// Action goal rejected return code.
+#define RCL_RET_ACTION_GOAL_REJECTED 4101
+/// Action client is invalid return code.
+#define RCL_RET_ACTION_CLIENT_INVALID 4102
+/// Action client failed to take response return code.
+#define RCL_RET_ACTION_CLIENT_TAKE_FAILED 4103
+/// Action server is invalid return code.
+#define RCL_RET_ACTION_SERVER_INVALID 4200
+/// Action server failed to take request return code.
+#define RCL_RET_ACTION_SERVER_TAKE_FAILED 4201
+/// Action goal handle invalid return code.
+#define RCL_RET_ACTION_GOAL_HANDLE_INVALID 4300
+/// Action invalid event return code.
+#define RCL_RET_ACTION_GOAL_EVENT_INVALID 4301
 
 /// typedef for rmw_serialized_message_t;
 typedef rmw_serialized_message_t rcl_serialized_message_t;

diff --git a/src/rcl_action/types.h b/src/rcl_action/types.h
@@ -33,26 +33,6 @@ extern "C"
 
 #include "rosidl_runtime_c/action_type_support_struct.h"
 
-// rcl action specific ret codes in 2XXX
-/// Action name does not pass validation return code.
-#define RCL_RET_ACTION_NAME_INVALID 2000
-/// Action goal accepted return code.
-#define RCL_RET_ACTION_GOAL_ACCEPTED 2100
-/// Action goal rejected return code.
-#define RCL_RET_ACTION_GOAL_REJECTED 2101
-/// Action client is invalid return code.
-#define RCL_RET_ACTION_CLIENT_INVALID 2102
-/// Action client failed to take response return code.
-#define RCL_RET_ACTION_CLIENT_TAKE_FAILED 2103
-/// Action server is invalid return code.
-#define RCL_RET_ACTION_SERVER_INVALID 2200
-/// Action server failed to take request return code.
-#define RCL_RET_ACTION_SERVER_TAKE_FAILED 2201
-/// Action goal handle invalid return code.
-#define RCL_RET_ACTION_GOAL_HANDLE_INVALID 2300
-/// Action invalid event return code.
-#define RCL_RET_ACTION_GOAL_EVENT_INVALID 2301
-
 // TODO(jacobperron): Move these to a common place for UUIDs
 #define UUID_SIZE 16
 #define uuidcmp(uuid0, uuid1) (0 == memcmp(uuid0, uuid1, UUID_SIZE))