* [rclcpp_action] Action client holds weak pointers to goal handles
Fixes#861
It is against the design of ROS actions to rely on the status topic for the core implementation,
instead it should just be used for introspection.
Rather than relying on the status topic to remove references to goal handles, the action client
instead holds weak pointers to the goal handles. This way as long as a user holds a reference to
the goal handle they can use it to interact with the action client.
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Move cleanup logic to the end of the function
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Add TODO
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Log debug messages when dropping a weak references to goal handles
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Improve documentation
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
c7b62bff71