Struct RawActionServerSpec 

pub struct RawActionServerSpec<'a> {
    pub node_id: Option<NodeId>,
    pub action_name: &'a str,
    pub type_name: &'a str,
    pub type_hash: &'a str,
    pub qos: QosSettings,
    pub goal_callback: RawGoalCallback,
    pub cancel_callback: RawCancelCallback,
    pub accepted_callback: Option<RawAcceptedCallback>,
    pub context: *mut c_void,
}

Inputs for raw (untyped) action-server registration.

Collapses the runtime arguments shared by the register_action_server_raw* family. Buffer sizes / max-goals stay as const-generic turbofish parameters on the registration methods.

Fields

node_id: Option<NodeId>

None registers on the executor’s own node; Some(id) routes the server’s 5 underlying handles (send_goal / cancel_goal / get_result servers + feedback / status publishers) through the named Node’s session.

action_name: &'a str

type_name: &'a str

type_hash: &'a str

qos: QosSettings

QoS for the action’s three underlying service servers (send_goal / cancel_goal / get_result; Phase 193.4b). The feedback + status publishers keep their own profiles. Use QosSettings::services_default for the rclc-compatible default.

goal_callback: RawGoalCallback

cancel_callback: RawCancelCallback

accepted_callback: Option<RawAcceptedCallback>

context: *mut c_void