Add goal file input to ros2 action send_goal

ros2action/ros2action/verb/send_goal.py

@@ -13,6 +13,7 @@
 # limitations under the License.
 
 from argparse import ArgumentTypeError
+from argparse import FileType
 
 import signal
 
@@ -61,6 +62,9 @@ def add_arguments(self, parser, cli_name):
         group.add_argument(
             '--stdin', action='store_true',
             help='Read goal from standard input')
+        group.add_argument(
+            '--goal-file', metavar='FILE', type=FileType('r'),
+            help='Read goal request values from a YAML file')
         arg.completer = ActionGoalPrototypeCompleter(action_type_key='action_type')
         parser.add_argument(
             '-f', '--feedback', action='store_true',
@@ -81,6 +85,9 @@ def main(self, *, args):
 
         if args.stdin:
             goal = collect_stdin()
+        elif args.goal_file:
+            with args.goal_file:
+                goal = args.goal_file.read()
         else:
             goal = args.goal
 

ros2action/test/test_send_goal_file.py

@@ -0,0 +1,43 @@
+# Copyright 2026 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from argparse import ArgumentParser
+from unittest.mock import patch
+
+from ros2action.verb.send_goal import SendGoalVerb
+
+
+def test_send_goal_reads_goal_file(tmp_path):
+    goal_file = tmp_path / 'goal.yaml'
+    goal_file.write_text('order: 7\n', encoding='utf-8')
+
+    parser = ArgumentParser()
+    verb = SendGoalVerb()
+    verb.add_arguments(parser, 'action')
+    args = parser.parse_args([
+        '/fibonacci',
+        'example_interfaces/action/Fibonacci',
+        '--goal-file', str(goal_file),
+    ])
+
+    with patch('ros2action.verb.send_goal.send_goal') as mock_send_goal:
+        verb.main(args=args)
+
+    mock_send_goal.assert_called_once_with(
+        '/fibonacci',
+        'example_interfaces/action/Fibonacci',
+        'order: 7\n',
+        None,
+        None,
+    )