Reimplement robot_controller using ROS2 action

src/robot_interfaces/CMakeLists.txt

@@ -29,6 +29,7 @@ find_package(rclcpp REQUIRED)
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Motion.msg"
   "srv/ExecuteMotion.srv"
+  "action/ExecuteMotion.action"
   DEPENDENCIES geometry_msgs # Add packages that above messages depend on
 )
 

src/robot_interfaces/action/ExecuteMotion.action

@@ -0,0 +1,7 @@
+# Motion action
+
+Motion motion
+---
+string result
+---
+string status

src/robot_interfaces/package.xml

@@ -13,6 +13,7 @@
   <test_depend>ament_lint_common</test_depend>
 
   <depend>geometry_msgs</depend>
+  <depend>action_msgs</depend>
 
   <build_depend>rosidl_default_generators</build_depend>