Skip to content

Fixed problem to resend goal. #28

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Sep 21, 2023
Merged

Fixed problem to resend goal. #28

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 8 additions & 0 deletions behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -427,6 +427,7 @@ template<class T> inline
template<class T> inline
void RosActionNode<T>::cancelGoal()
{
auto future_result = action_client_->async_get_result(goal_handle_);
auto future_cancel = action_client_->async_cancel_goal(goal_handle_);

if (callback_group_executor_.spin_until_future_complete(future_cancel, server_timeout_) !=
Expand All @@ -435,6 +436,13 @@ template<class T> inline
RCLCPP_ERROR( node_->get_logger(), "Failed to cancel action server for [%s]",
prev_action_name_.c_str());
}

if (callback_group_executor_.spin_until_future_complete(future_result) !=
rclcpp::FutureReturnCode::SUCCESS)
{
RCLCPP_ERROR( node_->get_logger(), "Failed to get result call failed :( for [%s]",
prev_action_name_.c_str());
}
}


Expand Down