From 2a468588d57108b3786dec04dc95c62e078188f8 Mon Sep 17 00:00:00 2001
From: "Carlos A. Orduno" <39749557+orduno@users.noreply.github.com>
Date: Fri, 7 Jun 2019 09:59:55 -0700
Subject: [PATCH] Adding check for successful action cancellation (#810)
after halting a bt action node
---
nav2_tasks/include/nav2_tasks/bt_action_node.hpp | 6 +++++-
1 file changed, 5 insertions(+), 1 deletion(-)
diff --git a/nav2_tasks/include/nav2_tasks/bt_action_node.hpp b/nav2_tasks/include/nav2_tasks/bt_action_node.hpp
index 1e7ddaf8..d268d886 100644
--- a/nav2_tasks/include/nav2_tasks/bt_action_node.hpp
+++ b/nav2_tasks/include/nav2_tasks/bt_action_node.hpp
@@ -173,7 +173,11 @@ new_goal_received:
auto future_cancel = action_client_->async_cancel_goal(goal_handle_);
{
std::lock_guard<std::mutex> guard(spin_mutex_);
- rclcpp::spin_until_future_complete(node_, future_cancel);
+ if (rclcpp::spin_until_future_complete(node_, future_cancel) !=
+ rclcpp::executor::FutureReturnCode::SUCCESS) {
+ RCLCPP_ERROR(node_->get_logger(),
+ "Failed to cancel action server for %s", action_name_.c_str());
+ }
}
}
--
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