a workaround patch for #1652 (#1807)

Signed-off-by: Daisuke Sato <[email protected]>
ros-navigation · Jun 18, 2020 · dc59715 · dc59715
1 parent dd0d9fd
commit dc59715
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
@@ -214,7 +214,10 @@ class BtActionNode : public BT::ActionNodeBase
     auto send_goal_options = typename rclcpp_action::Client<ActionT>::SendGoalOptions();
     send_goal_options.result_callback =
       [this](const typename rclcpp_action::ClientGoalHandle<ActionT>::WrappedResult & result) {
-        if (result.code != rclcpp_action::ResultCode::ABORTED) {
+        // TODO(#1652): a work around until rcl_action interface is updated
+        // if goal ids are not matched, the older goal call this callback so ignore the result
+        // if matched, it must be processed (including aborted)
+        if (this->goal_handle_->get_goal_id() == result.goal_id) {
           goal_result_available_ = true;
           result_ = result;
         }