Bug in multiple action send goal

[LeoGori]

I noticed a bug in the generation of the dialogSkill.cpp file when I have multiple send_goal in my high-level state machine. In my case I had these states calling 3 different actions in my high-level DialogSkill.scxml:

Action WaitForInteraction

 <state id="idle">
   ...
    <ros_action_send_goal name="wait_for_interaction_action">
        <field name="is_beginning_of_conversation" expr="m_is_beginning_of_conversation == 'true'"/>
      </ros_action_send_goal>
  </state>

Action BatchGeneration

<state id="sendSynthesizedTextCall">
    ...
      <ros_action_send_goal name="synthesize_text_action">
        <field name="text" expr="m_reply"/>
      </ros_action_send_goal>
...
  </state>

Action Speak

  <state id="speak">
...
      <ros_action_send_goal name="speak_action">
        <field name="text" expr="m_reply"/>
        <field name="dance" expr="m_dance"/>
      </ros_action_send_goal>
...  
</state>

In my generated DialogSkill.cpp, the order of the lambdas containing the action clients is BatchGeneration, WaitForInteraction and Speak. The first one, correctly contains the input parameter as per the high-level definition

m_stateMachine.connectToEvent("TextToSpeechComponent.BatchGeneration.SendGoal", [this]([[maybe_unused]]const QScxmlEvent & event){
    RCLCPP_INFO(m_node->get_logger(), "DialogSkill::TextToSpeechComponent.BatchGeneration.SendGoal");
    RCLCPP_INFO(m_node->get_logger(), "calling send goal");
    std::shared_ptr<rclcpp::Node> nodeBatchGeneration = rclcpp::Node::make_shared(m_name + "SkillNodeBatchGeneration");
    rclcpp_action::Client<text_to_speech_interfaces::action::BatchGeneration>::SharedPtr clientBatchGeneration  =
    rclcpp_action::create_client<text_to_speech_interfaces::action::BatchGeneration>(nodeBatchGeneration, "/TextToSpeechComponent/BatchGeneration");
    text_to_speech_interfaces::action::BatchGeneration::Goal goal_msg;
    
    std::string temp = event.data().toMap()["text"].toString().toStdString();
    goal_msg.text = convert<decltype(goal_msg.text)>(temp);
    
    send_goal(goal_msg);
    RCLCPP_INFO(m_node->get_logger(), "done send goal");
  });

Then the lambda containing the action client for WaitForInteraction contains wrongly, in addition to the input parameter is_beginning_of_conversation defined in the high-level skill, the text parameter, which belongs to the previous lambda:

m_stateMachine.connectToEvent("DialogComponent.WaitForInteraction.SendGoal", [this]([[maybe_unused]]const QScxmlEvent & event){
    RCLCPP_INFO(m_node->get_logger(), "DialogSkill::DialogComponent.WaitForInteraction.SendGoal");
    RCLCPP_INFO(m_node->get_logger(), "calling send goal");
    std::shared_ptr<rclcpp::Node> nodeWaitForInteraction = rclcpp::Node::make_shared(m_name + "SkillNodeWaitForInteraction");
    rclcpp_action::Client<dialog_interfaces::action::WaitForInteraction>::SharedPtr clientWaitForInteraction  =
    rclcpp_action::create_client<dialog_interfaces::action::WaitForInteraction>(nodeWaitForInteraction, "/DialogComponent/WaitForInteraction");
    dialog_interfaces::action::WaitForInteraction::Goal goal_msg;
    
    std::string temp = event.data().toMap()["text"].toString().toStdString();
    goal_msg.text = convert<decltype(goal_msg.text)>(temp);
    
    std::string temp = event.data().toMap()["is_beginning_of_conversation"].toString().toStdString();
    goal_msg.is_beginning_of_conversation = convert<decltype(goal_msg.is_beginning_of_conversation)>(temp);
    
    send_goal(goal_msg);
    RCLCPP_INFO(m_node->get_logger(), "done send goal");
  });

Finally, the lambda containing the action client for Speak is generated with, in addition to the couple of input parameters text and dance defined in the high-level skill, the previous text and is_beginning_of_conversation parameters:

m_stateMachine.connectToEvent("DialogComponent.Speak.SendGoal", [this]([[maybe_unused]]const QScxmlEvent & event){
    RCLCPP_INFO(m_node->get_logger(), "DialogSkill::DialogComponent.Speak.SendGoal");
    RCLCPP_INFO(m_node->get_logger(), "calling send goal");
    std::shared_ptr<rclcpp::Node> nodeSpeak = rclcpp::Node::make_shared(m_name + "SkillNodeSpeak");
    rclcpp_action::Client<dialog_interfaces::action::Speak>::SharedPtr clientSpeak  =
    rclcpp_action::create_client<dialog_interfaces::action::Speak>(nodeSpeak, "/DialogComponent/Speak");
    dialog_interfaces::action::Speak::Goal goal_msg;
    
    std::string temp = event.data().toMap()["text"].toString().toStdString();
    goal_msg.text = convert<decltype(goal_msg.text)>(temp);
    
    std::string temp = event.data().toMap()["is_beginning_of_conversation"].toString().toStdString();
    goal_msg.is_beginning_of_conversation = convert<decltype(goal_msg.is_beginning_of_conversation)>(temp);
    
    std::string temp = event.data().toMap()["text"].toString().toStdString();
    goal_msg.text = convert<decltype(goal_msg.text)>(temp);
    
    std::string temp = event.data().toMap()["dance"].toString().toStdString();
    goal_msg.dance = convert<decltype(goal_msg.dance)>(temp);
    
    send_goal(goal_msg);
    RCLCPP_INFO(m_node->get_logger(), "done send goal");
  });

It seems like the generation appends previously defined action goals' input parameters, missing some logic to reset the list.