Fix SimpleActionState aborted flow

nobleo · Oct 10, 2024 · daa00ac · daa00ac
1 parent 32d9f1c
commit daa00ac
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/smach_ros/smach_ros/simple_action_state.py b/smach_ros/smach_ros/simple_action_state.py
@@ -58,6 +58,7 @@ class ActionState(Enum):
     CANCELING = 3
     CANCELED = 4
     COMPLETED = 5
+    ABORTED = 6
 
 
 class SimpleActionState(RosState):
@@ -453,7 +454,7 @@ def execute(self, ud):
             if self.preempt_requested():
                 self.service_preempt()
             outcome = 'preempted'
-        elif self._status == ActionState.CANCELING:
+        elif self._status == ActionState.CANCELING or self._status == ActionState.ABORTED:
             # Preempting or exec timeout but goal not cancelled
             outcome = 'aborted'
         else:
@@ -531,7 +532,7 @@ def get_result_str(i):
         elif self._goal_status == GoalStatus.STATUS_CANCELED:
             self._status = ActionState.CANCELED
         elif self._goal_status == GoalStatus.STATUS_ABORTED:
-            self._status = ActionState.CANCELED
+            self._status = ActionState.ABORTED
 
         self.node.get_logger().debug(f"Goal completed: {self._client_goal_handle}")