From cca18daad26bd14c28f327ea99e86cc6ae856ad3 Mon Sep 17 00:00:00 2001
From: Michel Hidalgo <hid.michel@gmail.com>
Date: Wed, 7 Nov 2018 17:48:32 -0300
Subject: [PATCH] [rcl action] Fixes after changes introduced by (#310)

---
 rcl_action/include/rcl_action/action_client.h |  4 ----
 rcl_action/include/rcl_action/action_server.h |  4 ----
 rcl_action/include/rcl_action/types.h         |  2 ++
 rcl_action/src/rcl_action/action_client.c     | 10 +++++-----
 4 files changed, 7 insertions(+), 13 deletions(-)

diff --git a/rcl_action/include/rcl_action/action_client.h b/rcl_action/include/rcl_action/action_client.h
index c70638d..f90065d 100644
--- a/rcl_action/include/rcl_action/action_client.h
+++ b/rcl_action/include/rcl_action/action_client.h
@@ -20,10 +20,6 @@ extern "C"
 {
 #endif
 
-// TODO(jacobperron): replace type support typedef with one defined in rosdl_generator_c
-// #include "rosidl_generator_c/action_type_support_struct.h"
-typedef struct rosidl_action_type_support_t rosidl_action_type_support_t;
-
 #include "rcl_action/types.h"
 #include "rcl_action/visibility_control.h"
 #include "rcl/macros.h"
diff --git a/rcl_action/include/rcl_action/action_server.h b/rcl_action/include/rcl_action/action_server.h
index 80c14e1..4195b61 100644
--- a/rcl_action/include/rcl_action/action_server.h
+++ b/rcl_action/include/rcl_action/action_server.h
@@ -20,10 +20,6 @@ extern "C"
 {
 #endif
 
-// TODO(jacobperron): replace type support typedef with one defined in rosdl_generator_c
-// #include "rosidl_generator_c/action_type_support_struct.h"
-typedef struct rosidl_action_type_support_t rosidl_action_type_support_t;
-
 #include "rcl_action/goal_handle.h"
 #include "rcl_action/types.h"
 #include "rcl_action/visibility_control.h"
diff --git a/rcl_action/include/rcl_action/types.h b/rcl_action/include/rcl_action/types.h
index f9a86ad..52a379a 100644
--- a/rcl_action/include/rcl_action/types.h
+++ b/rcl_action/include/rcl_action/types.h
@@ -31,6 +31,8 @@ extern "C"
 #include "rcl/macros.h"
 #include "rcl/types.h"
 
+#include "rosidl_generator_c/action_type_support_struct.h"
+typedef struct rosidl_action_type_support_t rosidl_action_type_support_t;
 
 // rcl action specific ret codes in 2XXX
 /// Action name does not pass validation return code.
diff --git a/rcl_action/src/rcl_action/action_client.c b/rcl_action/src/rcl_action/action_client.c
index 9f258ee..4734788 100644
--- a/rcl_action/src/rcl_action/action_client.c
+++ b/rcl_action/src/rcl_action/action_client.c
@@ -338,7 +338,7 @@ rcl_action_client_init(
   };
   ret = rcl_action_goal_service_client_init(
     &impl->goal_client, node,
-    &type_support->goal_service_type_support,
+    type_support->goal_service_type_support,
     impl->action_name, &goal_client_options);
   if (RCL_RET_OK != ret) {
     RCUTILS_LOG_DEBUG_NAMED(
@@ -351,7 +351,7 @@ rcl_action_client_init(
   };
   ret = rcl_action_cancel_service_client_init(
     &impl->cancel_client, node,
-    &type_support->cancel_service_type_support,
+    type_support->cancel_service_type_support,
     impl->action_name, &cancel_client_options);
   if (RCL_RET_OK != ret) {
     RCUTILS_LOG_DEBUG_NAMED(
@@ -364,7 +364,7 @@ rcl_action_client_init(
   };
   ret = rcl_action_result_client_init(
     &impl->result_client, node,
-    &type_support->result_service_type_support,
+    type_support->result_service_type_support,
     impl->action_name, &result_client_options);
   if (RCL_RET_OK != ret) {
     RCUTILS_LOG_DEBUG_NAMED(
@@ -379,7 +379,7 @@ rcl_action_client_init(
   };
   ret = rcl_action_feedback_subscription_init(
     &impl->feedback_subscription, node,
-    &type_support->feedback_topic_type_support,
+    type_support->feedback_message_type_support,
     impl->action_name, &feedback_subscription_options);
   if (RCL_RET_OK != ret) {
     RCUTILS_LOG_DEBUG_NAMED(
@@ -394,7 +394,7 @@ rcl_action_client_init(
   };
   ret = rcl_action_status_subscription_init(
     &impl->status_subscription, node,
-    &type_support->status_topic_type_support,
+    type_support->status_message_type_support,
     impl->action_name, &status_subscription_options);
   if (RCL_RET_OK != ret) {
     RCUTILS_LOG_DEBUG_NAMED(