README fixed

uleroboticsgroup · Jun 29, 2024 · c8572be · c8572be
1 parent 5bf7431
commit c8572be
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Showing 3 changed files with 18 additions and 4 deletions.
diff --git a/README.md b/README.md
@@ -297,7 +297,7 @@ class FibonacciState(ActionState):
             self.create_goal_handler,  # cb to create the goal
             None,  # outcomes. Includes (SUCCEED, ABORT, CANCEL)
             self.response_handler,  # cb to process the response
-            self.print_feedback
+            self.print_feedback # cb to process the feedback
         )
 
     def create_goal_handler(self, blackboard: Blackboard) -> Fibonacci.Goal:
@@ -888,9 +888,16 @@ class FibonacciState : public yasmin_ros::ActionState<Fibonacci> {
 public:
   FibonacciState()
       : yasmin_ros::ActionState<Fibonacci>(
-            "/fibonacci",
+
+            "/fibonacci", // action name
+
+            // # cb to create the goal
             std::bind(&FibonacciState::create_goal_handler, this, _1),
+            // # cb to process the response
+
             std::bind(&FibonacciState::response_handler, this, _1, _2),
+
+            // cb to process the feedback
             std::bind(&FibonacciState::print_feedback, this, _1, _2)){};
 
   Fibonacci::Goal create_goal_handler(

diff --git a/yasmin_demo/src/action_client_demo.cpp b/yasmin_demo/src/action_client_demo.cpp
@@ -51,9 +51,16 @@ class FibonacciState : public yasmin_ros::ActionState<Fibonacci> {
 public:
   FibonacciState()
       : yasmin_ros::ActionState<Fibonacci>(
-            "/fibonacci",
+
+            "/fibonacci", // action name
+
+            // # cb to create the goal
             std::bind(&FibonacciState::create_goal_handler, this, _1),
+            // # cb to process the response
+
             std::bind(&FibonacciState::response_handler, this, _1, _2),
+
+            // cb to process the feedback
             std::bind(&FibonacciState::print_feedback, this, _1, _2)){};
 
   Fibonacci::Goal create_goal_handler(

diff --git a/yasmin_demo/yasmin_demo/action_client_demo.py b/yasmin_demo/yasmin_demo/action_client_demo.py
@@ -34,7 +34,7 @@ def __init__(self) -> None:
             self.create_goal_handler,  # cb to create the goal
             None,  # outcomes. Includes (SUCCEED, ABORT, CANCEL)
             self.response_handler,  # cb to process the response
-            self.print_feedback
+            self.print_feedback  # cb to process the feedback
         )
 
     def create_goal_handler(self, blackboard: Blackboard) -> Fibonacci.Goal: