Check service server before calling

marip8 · marip8 · commit e52663aa8579 · 2024-01-31T16:38:28.000-06:00
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp
@@ -278,6 +278,10 @@ template<class T> inline
       return CheckStatus( onFailure(INVALID_REQUEST) );
     }
 
+    // Check if server is ready
+    if(!service_client_->service_is_ready())
+      return onFailure(SERVICE_UNREACHABLE);
+
     future_response_ = service_client_->async_send_request(request).share();
     time_request_sent_ = node_->now();
 

Original file line number	Diff line number	Diff line change
`@@ -278,6 +278,10 @@ template<class T> inline`
`278`	`278`	`return CheckStatus( onFailure(INVALID_REQUEST) );`
`279`	`279`	`}`
`280`	`280`
	`281`	`+ // Check if server is ready`
	`282`	`+ if(!service_client_->service_is_ready())`
	`283`	`+ return onFailure(SERVICE_UNREACHABLE);`
	`284`	`+`
`281`	`285`	`future_response_ = service_client_->async_send_request(request).share();`
`282`	`286`	`time_request_sent_ = node_->now();`
`283`	`287`