From a86b98f49d006b29a53880be2003649a94edd0a9 Mon Sep 17 00:00:00 2001
From: Leandro <leandropineda.lp@gmail.com>
Date: Fri, 11 Nov 2022 07:24:38 -0300
Subject: [PATCH] Fix TB3 adapter `initPosition` result (#6)

---
 vda5050_tb3_adapter/vda5050_tb3_adapter/tb3_adapter.py | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/vda5050_tb3_adapter/vda5050_tb3_adapter/tb3_adapter.py b/vda5050_tb3_adapter/vda5050_tb3_adapter/tb3_adapter.py
index e68e074..8d39edb 100644
--- a/vda5050_tb3_adapter/vda5050_tb3_adapter/tb3_adapter.py
+++ b/vda5050_tb3_adapter/vda5050_tb3_adapter/tb3_adapter.py
@@ -215,6 +215,14 @@ def process_vda_action_callback(self, goal_handle):
 
             self._init_pose_pub.publish(pose_with_cov_stamped)
 
+            self.logger.info(f"Instant action '{action.action_id}' finished")
+
+            result.result = VDACurrentAction(
+                action_id=action.action_id,
+                action_description=action.action_description,
+                action_status=VDACurrentAction.FINISHED,
+            )
+
         else:
             self.logger.info(
                 f"Received unsupported action: '{action.action_type}'. "