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fix deprecated warning for action graph APIs. #1188

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Merged
ahcorde merged 1 commit into from
Feb 13, 2026
+8 −14
Merged

fix deprecated warning for action graph APIs. #1188

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8 changes: 3 additions & 5 deletions ros2cli/ros2cli/daemon/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,10 +18,8 @@
import uuid

import rclpy
import rclpy.action

from ros2cli.helpers import before_invocation
from ros2cli.helpers import bind
from ros2cli.helpers import get_ros_domain_id
from ros2cli.helpers import pretty_print_call

Expand Down Expand Up @@ -85,7 +83,7 @@ def serve(server: LocalXMLRPCServer, *, timeout: int = 2 * 60 * 60):
node.get_node_names_and_namespaces_with_enclaves,
node.get_topic_names_and_types,
node.get_service_names_and_types,
bind(rclpy.action.get_action_names_and_types, node),
node.get_action_names_and_types,
node.get_publisher_names_and_types_by_node,
node.get_publishers_info_by_topic,
node.get_subscriber_names_and_types_by_node,
Expand All @@ -94,8 +92,8 @@ def serve(server: LocalXMLRPCServer, *, timeout: int = 2 * 60 * 60):
node.get_servers_info_by_service,
node.get_clients_info_by_service,
node.get_client_names_and_types_by_node,
bind(rclpy.action.get_action_server_names_and_types_by_node, node),
bind(rclpy.action.get_action_client_names_and_types_by_node, node),
node.get_action_server_names_and_types_by_node,
node.get_action_client_names_and_types_by_node,
node.count_publishers,
node.count_subscribers,
node.count_clients,
Expand Down
14 changes: 5 additions & 9 deletions ros2cli/ros2cli/node/direct.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,6 @@
from typing import Optional

import rclpy
import rclpy.action

from rclpy.parameter import Parameter
from ros2cli.helpers import check_discovery_configuration
Expand Down Expand Up @@ -69,19 +68,16 @@ def timer_callback():
def __enter__(self):
return self

# TODO(hidmic): generalize/standardize rclpy graph API
# to not have to make a special case for
# rclpy.action
def get_action_names_and_types(self) -> list[tuple[str, list[str]]]:
return rclpy.action.get_action_names_and_types(self.node)
return self.node.get_action_names_and_types()

def get_action_client_names_and_types_by_node(self, remote_node_name, remote_node_namespace):
return rclpy.action.get_action_client_names_and_types_by_node(
self.node, remote_node_name, remote_node_namespace)
return self.node.get_action_client_names_and_types_by_node(
remote_node_name, remote_node_namespace)

def get_action_server_names_and_types_by_node(self, remote_node_name, remote_node_namespace):
return rclpy.action.get_action_server_names_and_types_by_node(
self.node, remote_node_name, remote_node_namespace)
return self.node.get_action_server_names_and_types_by_node(
remote_node_name, remote_node_namespace)

def __getattr__(self, name):
if not rclpy.ok():
Expand Down
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