Skeleton for Action Server and Client (#579)

* Skeleton for ActionServer and ActionClient

rclcpp_action/test/test_server.cpp

@@ -0,0 +1,46 @@
+// Copyright 2018 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.
+
+#include <rclcpp/exceptions.hpp>
+#include <rclcpp/node.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <test_msgs/action/fibonacci.hpp>
+
+#include <gtest/gtest.h>
+
+#include <memory>
+
+#include "rclcpp_action/create_server.hpp"
+#include "rclcpp_action/server.hpp"
+
+
+class TestServer : public ::testing::Test
+{
+protected:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+};
+
+TEST_F(TestServer, construction_and_destruction)
+{
+  auto node = std::make_shared<rclcpp::Node>("my_node", "/rclcpp_action/test/server");
+
+  using GoalHandle = rclcpp_action::ServerGoalHandle<test_msgs::action::Fibonacci>;
+  auto as = rclcpp_action::create_server<test_msgs::action::Fibonacci>(node.get(), "fibonacci",
+      [](rcl_action_goal_info_t &, test_msgs::action::Fibonacci::Goal *) {},
+      [](std::shared_ptr<GoalHandle>) {});
+  (void)as;
+}