Added skeleton examples for action client and server

Author: esteve

examples/minimal_action_client_server/Cargo.toml

@@ -0,0 +1,29 @@
+[package]
+name = "examples_rclrs_minimal_action_client_server"
+version = "0.3.1"
+# This project is not military-sponsored, Jacob's employment contract just requires him to use this email address
+authors = ["Esteve Fernandez <[email protected]>", "Nikolai Morin <[email protected]>", "Jacob Hassold <[email protected]>"]
+edition = "2021"
+
+[[bin]]
+name = "minimal_action_client"
+path = "src/minimal_action_client.rs"
+
+[[bin]]
+name = "minimal_action_server"
+path = "src/minimal_action_server.rs"
+
+[dependencies]
+anyhow = {version = "1", features = ["backtrace"]}
+
+[dependencies.rclrs]
+version = "0.3"
+
+[dependencies.rosidl_runtime_rs]
+version = "0.3"
+
+[dependencies.action_msgs]
+version = "*"
+
+[package.metadata.ros]
+install_to_share = ["launch"]

examples/minimal_action_client_server/package.xml

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+<?xml version="1.0"?>
+<?xml-model
+   href="http://download.ros.org/schema/package_format3.xsd"
+   schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>examples_rclrs_minimal_action_client_server</name>
+  <version>0.3.1</version>
+  <description>Package containing an example of actions in rclrs.</description>
+  <maintainer email="[email protected]">Esteve Fernandez</maintainer>
+  <maintainer email="[email protected]">Nikolai Morin</maintainer>
+  <!-- This project is not military-sponsored, Jacob's employment contract just requires him to use this email address -->
+  <maintainer email="[email protected]">Jacob Hassold</maintainer>
+  <license>Apache License 2.0</license>
+
+  <build_depend>rclrs</build_depend>
+  <build_depend>rosidl_runtime_rs</build_depend>
+  <build_depend>action_msgs</build_depend>
+
+  <exec_depend>rclrs</exec_depend>
+  <exec_depend>rosidl_runtime_rs</exec_depend>
+  <exec_depend>action_msgs</exec_depend>
+
+  <export>
+    <build_type>ament_cargo</build_type>
+  </export>
+</package>

examples/minimal_action_client_server/src/minimal_action_client.rs

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+use std::env;
+
+use anyhow::{Error, Result};
+
+fn main() -> Result<(), Error> {
+    let context = rclrs::Context::new(env::args())?;
+
+    let _node = rclrs::create_node(&context, "minimal_action_client")?;
+
+    Ok(())
+}

examples/minimal_action_client_server/src/minimal_action_server.rs

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+use std::env;
+
+use anyhow::{Error, Result};
+
+fn main() -> Result<(), Error> {
+    let context = rclrs::Context::new(env::args())?;
+
+    let mut node = rclrs::create_node(&context, "minimal_action_server")?;
+
+    rclrs::spin(&node).map_err(|err| err.into())
+}