ROS2 Action

 self._wall_follow_action_client = ActionClient(self, WallFollow, '/wall_follow')
 
...
 
 
	def wall_follow_callback(self):
		self.get_logger().info(f"Wall follow callback is called")
		goal_msg = WallFollow.Goal()
		goal_msg.follow_side = self.wall_follow_side # 1=left, -1=right
		duration = Duration()
		duration.sec = 30
		goal_msg.max_runtime = duration 
		self._wall_follow_action_client.send_goal_async(goal_msg)