Add goal file input to ros2 action send_goal - #1276
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Signed-off-by: Sylvester Kaczmarek <16242628+sylvesterkaczmarek@users.noreply.github.com>
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Signed-off-by: Sylvester Kaczmarek <16242628+sylvesterkaczmarek@users.noreply.github.com>
Signed-off-by: Sylvester Kaczmarek <16242628+sylvesterkaczmarek@users.noreply.github.com>
Signed-off-by: Sylvester Kaczmarek <16242628+sylvesterkaczmarek@users.noreply.github.com>
Signed-off-by: Sylvester Kaczmarek <16242628+sylvesterkaczmarek@users.noreply.github.com>
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Summary
Addresses the goal-file input part of #696.
Add
--goal-file FILEtoros2 action send_goalso goal request values can be read from a YAML file instead of being provided inline or through standard input.The new option participates in the same mutually exclusive input group as the existing positional goal and
--stdin.Example:
ros2 action send_goal /fibonacci example_interfaces/action/Fibonacci --goal-file goal.yaml-fis already used by--feedback, so the file input uses the unambiguous long option--goal-file.Testing
Added unit coverage for runtime file reading, empty files, and read failures, plus an end-to-end launch test that sends a goal from --goal-file to the Fibonacci action server and verifies successful completion.
Did you use Generative AI?
Yes. AI was used to assist with tests.