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Remove unnecessary mutable reference in ActionClient #64

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Remove unnecessary mutable reference in ActionClient #64

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2 changes: 1 addition & 1 deletion examples/turtle_teleop/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -354,7 +354,7 @@ fn ros2_loop(
status_subscription: service_qos,
};

let mut rotate_action_client = ros_node
let rotate_action_client = ros_node
.create_action_client::<RotateAbsoluteAction>(
ServiceMapping::Enhanced,
&Name::new("/turtle1", "rotate_absolute").unwrap(),
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26 changes: 12 additions & 14 deletions src/action/client.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -54,26 +54,24 @@ where
&self.my_action_name
}

pub fn goal_client(
&mut self,
) -> &mut Client<AService<SendGoalRequest<A::GoalType>, SendGoalResponse>> {
&mut self.my_goal_client
pub fn goal_client(&self) -> &Client<AService<SendGoalRequest<A::GoalType>, SendGoalResponse>> {
&self.my_goal_client
}
pub fn cancel_client(
&mut self,
) -> &mut Client<AService<action_msgs::CancelGoalRequest, action_msgs::CancelGoalResponse>> {
&mut self.my_cancel_client
&self,
) -> &Client<AService<action_msgs::CancelGoalRequest, action_msgs::CancelGoalResponse>> {
&self.my_cancel_client
}
pub fn result_client(
&mut self,
) -> &mut Client<AService<GetResultRequest, GetResultResponse<A::ResultType>>> {
&mut self.my_result_client
&self,
) -> &Client<AService<GetResultRequest, GetResultResponse<A::ResultType>>> {
&self.my_result_client
}
pub fn feedback_subscription(&mut self) -> &mut Subscription<FeedbackMessage<A::FeedbackType>> {
&mut self.my_feedback_subscription
pub fn feedback_subscription(&self) -> &Subscription<FeedbackMessage<A::FeedbackType>> {
&self.my_feedback_subscription
}
pub fn status_subscription(&mut self) -> &mut Subscription<action_msgs::GoalStatusArray> {
&mut self.my_status_subscription
pub fn status_subscription(&self) -> &Subscription<action_msgs::GoalStatusArray> {
&self.my_status_subscription
}

/// Returns and id of the Request and id for the Goal.
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