From 1fa82db6e6ed7e6598f8952d4873425f53cc6299 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Thu, 4 Jan 2024 13:11:00 +0000 Subject: [PATCH] Cancel goal in on_deactivate --- .../src/joint_trajectory_controller.cpp | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp index c6a5169855..6119cea75b 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp @@ -981,6 +981,17 @@ controller_interface::CallbackReturn JointTrajectoryController::on_activate( controller_interface::CallbackReturn JointTrajectoryController::on_deactivate( const rclcpp_lifecycle::State &) { + const auto active_goal = *rt_active_goal_.readFromNonRT(); + if (active_goal) + { + rt_has_pending_goal_.writeFromNonRT(false); + auto action_res = std::make_shared(); + action_res->set__error_code(FollowJTrajAction::Result::INVALID_GOAL); + action_res->set__error_string("Current goal cancelled during deactivate transition."); + active_goal->setCanceled(action_res); + rt_active_goal_.writeFromNonRT(RealtimeGoalHandlePtr()); + } + for (size_t index = 0; index < dof_; ++index) { if (has_position_command_interface_) @@ -1451,7 +1462,6 @@ void JointTrajectoryController::preempt_active_goal() const auto active_goal = *rt_active_goal_.readFromNonRT(); if (active_goal) { - add_new_trajectory_msg(set_hold_position()); auto action_res = std::make_shared(); action_res->set__error_code(FollowJTrajAction::Result::INVALID_GOAL); action_res->set__error_string("Current goal cancelled due to new incoming action.");