Backport: Implement action generic client (#2759)

rclcpp_action/CMakeLists.txt

@@ -24,6 +24,9 @@ endif()
 
 add_library(${PROJECT_NAME}
   src/client.cpp
+  src/create_generic_client.cpp
+  src/generic_client.cpp
+  src/generic_client_goal_handle.cpp
   src/qos.cpp
   src/server.cpp
   src/server_goal_handle.cpp
@@ -92,6 +95,20 @@ if(BUILD_TESTING)
     )
   endif()
 
+  ament_add_gtest(test_generic_client test/test_generic_client.cpp TIMEOUT 180)
+  ament_add_test_label(test_generic_client mimick)
+  if(TARGET test_generic_client)
+    target_link_libraries(test_generic_client
+      ${PROJECT_NAME}
+      mimick
+      rcl::rcl
+      rcl_action::rcl_action
+      rclcpp::rclcpp
+      rcutils::rcutils
+      ${test_msgs_TARGETS}
+    )
+  endif()
+
   ament_add_gtest(test_server test/test_server.cpp TIMEOUT 180)
   if(TARGET test_server)
     target_link_libraries(test_server

rclcpp_action/include/rclcpp_action/create_generic_client.hpp

@@ -0,0 +1,83 @@
+// Copyright 2025 Sony Group Corporation.
+//
+// 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.
+
+#ifndef RCLCPP_ACTION__CREATE_GENERIC_CLIENT_HPP_
+#define RCLCPP_ACTION__CREATE_GENERIC_CLIENT_HPP_
+
+#include <string>
+
+#include "rclcpp_action/generic_client.hpp"
+
+namespace rclcpp_action
+{
+/// Create an action generic client.
+/**
+ * This function is equivalent to \sa create_generic_client()` however is using the individual
+ * node interfaces to create the client.
+ *
+ * \param[in] node_base_interface The node base interface of the corresponding node.
+ * \param[in] node_graph_interface The node graph interface of the corresponding node.
+ * \param[in] node_logging_interface The node logging interface of the corresponding node.
+ * \param[in] node_waitables_interface The node waitables interface of the corresponding node.
+ * \param[in] name The action name.
+ * \param[in] type The action type.
+ * \param[in] group The action client will be added to this callback group.
+ *   If `nullptr`, then the action client is added to the default callback group.
+ * \param[in] options Options to pass to the underlying `rcl_action_client_t`.
+ * \return newly created generic client.
+ */
+RCLCPP_ACTION_PUBLIC
+typename GenericClient::SharedPtr
+create_generic_client(
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
+  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
+  rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_interface,
+  const std::string & name,
+  const std::string & type,
+  rclcpp::CallbackGroup::SharedPtr group = nullptr,
+  const rcl_action_client_options_t & options = rcl_action_client_get_default_options());
+
+/// Create an action generic client.
+/**
+ * \param[in] node The action client will be added to this node.
+ * \param[in] name The action name.
+ * \param[in] type The action type.
+ * \param[in] group The action client will be added to this callback group.
+ *   If `nullptr`, then the action client is added to the default callback group.
+ * \param[in] options Options to pass to the underlying `rcl_action_client_t`.
+ * \return newly created generic client.
+ */
+template<typename NodeT>
+typename GenericClient::SharedPtr
+create_generic_client(
+  NodeT node,
+  const std::string & name,
+  const std::string & type,
+  rclcpp::CallbackGroup::SharedPtr group = nullptr,
+  const rcl_action_client_options_t & options = rcl_action_client_get_default_options())
+{
+  return rclcpp_action::create_generic_client(
+    node->get_node_base_interface(),
+    node->get_node_graph_interface(),
+    node->get_node_logging_interface(),
+    node->get_node_waitables_interface(),
+    name,
+    type,
+    group,
+    options);
+}
+}  // namespace rclcpp_action
+
+#endif  // RCLCPP_ACTION__CREATE_GENERIC_CLIENT_HPP_