Remove action_msgs::msg::GoalStatus::STATUS_PREEMPTED references and …

…hard code to 7 Signed-off-by: Sarthak Mittal <[email protected]>
ros2 · May 17, 2020 · 8a18f0c · 8a18f0c
1 parent d4f73e7
commit 8a18f0c
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Showing 3 changed files with 4 additions and 3 deletions.
diff --git a/rclcpp_action/include/rclcpp_action/client.hpp b/rclcpp_action/include/rclcpp_action/client.hpp
@@ -582,7 +582,7 @@ class Client : public ClientBase
         goal_status == GoalStatus::STATUS_SUCCEEDED ||
         goal_status == GoalStatus::STATUS_CANCELED ||
         goal_status == GoalStatus::STATUS_ABORTED ||
-        goal_status == GoalStatus::STATUS_PREEMPTED)
+        goal_status == 7)  // GoalStatus::STATUS_PREEMPTED)
       {
         goal_handles_.erase(goal_id);
       }

diff --git a/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp b/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp
@@ -189,7 +189,7 @@ class ServerGoalHandle : public ServerGoalHandleBase
   {
     _abort();
     auto response = std::make_shared<typename ActionT::Impl::GetResultService::Response>();
-    response->status = action_msgs::msg::GoalStatus::STATUS_PREEMPTED;
+    response->status = 7;  // action_msgs::msg::GoalStatus::STATUS_PREEMPTED;
     response->result = *result_msg;
     on_terminal_state_(uuid_, response);
   }

diff --git a/rclcpp_action/test/test_server.cpp b/rclcpp_action/test/test_server.cpp
@@ -725,7 +725,8 @@ TEST_F(TestServer, publish_status_preemped)
     rclcpp::spin_until_future_complete(node, future));
 
   auto response = future.get();
-  EXPECT_EQ(action_msgs::msg::GoalStatus::STATUS_PREEMPTED, response->status);
+  //  EXPECT_EQ(action_msgs::msg::GoalStatus::STATUS_PREEMPTED, response->status);
+  EXPECT_EQ(7, response->status);
   EXPECT_EQ(result->sequence, response->result.sequence);
 
   ASSERT_LT(0u, received_msgs.size());