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Fix behavior server #4602

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merged 1 commit into from
Aug 8, 2024
Merged

Fix behavior server #4602

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18 changes: 9 additions & 9 deletions nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -237,15 +237,6 @@ class TimedBehavior : public nav2_core::Behavior

while (rclcpp::ok()) {
elasped_time_ = clock_->now() - start_time;
if (action_server_->is_cancel_requested()) {
RCLCPP_INFO(logger_, "Canceling %s", behavior_name_.c_str());
stopRobot();
result->total_elapsed_time = elasped_time_;
onActionCompletion(result);
action_server_->terminate_all(result);
return;
}

// TODO(orduno) #868 Enable preempting a Behavior on-the-fly without stopping
if (action_server_->is_preempt_requested()) {
RCLCPP_ERROR(
Expand All @@ -259,6 +250,15 @@ class TimedBehavior : public nav2_core::Behavior
return;
}

if (action_server_->is_cancel_requested()) {
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RCLCPP_INFO(logger_, "Canceling %s", behavior_name_.c_str());
stopRobot();
result->total_elapsed_time = elasped_time_;
onActionCompletion(result);
action_server_->terminate_all(result);
return;
}

ResultStatus on_cycle_update_result = onCycleUpdate();
switch (on_cycle_update_result.status) {
case Status::SUCCEEDED:
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