Skip to content
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

a workaround patch for #1652 #1807

Merged
merged 1 commit into from
Jun 18, 2020
Merged

a workaround patch for #1652 #1807

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
5 changes: 4 additions & 1 deletion nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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;
}
Expand Down