Fix nav2_waypoint_follower bugs due to upstream ROS2 changes (#2000)

* Fix nav2_waypoint_follower bugs

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Update function description

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

nav2_waypoint_follower/include/nav2_waypoint_follower/waypoint_follower.hpp

@@ -106,10 +106,9 @@ protected:
 
   /**
    * @brief Action client goal response callback
-   * @param future Shared future to goalhandle
+   * @param goal Response of action server updated asynchronously
    */
-  void goalResponseCallback(
-    std::shared_future<rclcpp_action::ClientGoalHandle<ClientT>::SharedPtr> future);
+  void goalResponseCallback(const rclcpp_action::ClientGoalHandle<ClientT>::SharedPtr & goal);
 
   // Our action server
   std::unique_ptr<ActionServer> action_server_;

nav2_waypoint_follower/src/waypoint_follower.cpp

@@ -246,10 +246,9 @@ WaypointFollower::resultCallback(
 
 void
 WaypointFollower::goalResponseCallback(
-  std::shared_future<rclcpp_action::ClientGoalHandle<ClientT>::SharedPtr> future)
+  const rclcpp_action::ClientGoalHandle<ClientT>::SharedPtr & goal)
 {
-  auto goal_handle = future.get();
-  if (!goal_handle) {
+  if (!goal) {
     RCLCPP_ERROR(
       get_logger(),
       "navigate_to_pose action client failed to send goal to server.");