From 369e62df464f6863f213180877c8e808257d0677 Mon Sep 17 00:00:00 2001
From: Sarthak Mittal <sarthakmittal2608@gmail.com>
Date: Mon, 28 Sep 2020 22:17:55 +0530
Subject: [PATCH] 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>
---
.../include/nav2_waypoint_follower/waypoint_follower.hpp | 5 ++---
nav2_waypoint_follower/src/waypoint_follower.cpp | 5 ++---
2 files changed, 4 insertions(+), 6 deletions(-)
diff --git a/nav2_waypoint_follower/include/nav2_waypoint_follower/waypoint_follower.hpp b/nav2_waypoint_follower/include/nav2_waypoint_follower/waypoint_follower.hpp
index 83ffa14f..3485a2cf 100644
--- a/nav2_waypoint_follower/include/nav2_waypoint_follower/waypoint_follower.hpp
+++ b/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_;
diff --git a/nav2_waypoint_follower/src/waypoint_follower.cpp b/nav2_waypoint_follower/src/waypoint_follower.cpp
index 3230c6a7..a923098d 100644
--- a/nav2_waypoint_follower/src/waypoint_follower.cpp
+++ b/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.");
--
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