From e8e6d944c11444c77605202564393bc23eefc8a9 Mon Sep 17 00:00:00 2001
From: "Carlos A. Orduno" <39749557+orduno@users.noreply.github.com>
Date: Fri, 15 Nov 2019 13:21:01 -0800
Subject: [PATCH] Using action client to get result instead of goal handle
(#1310)
---
.../include/nav2_behavior_tree/bt_action_node.hpp | 8 ++------
.../src/lifecycle_manager_client.cpp | 10 +++-------
nav2_recoveries/test/test_recoveries.cpp | 8 ++------
3 files changed, 7 insertions(+), 19 deletions(-)
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
index 15247339..fd6a4cb2 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
@@ -104,12 +104,8 @@ public:
{
on_tick();
- // Enable result awareness by providing an empty lambda function
- auto send_goal_options = typename rclcpp_action::Client<ActionT>::SendGoalOptions();
- send_goal_options.result_callback = [](auto) {};
-
new_goal_received:
- auto future_goal_handle = action_client_->async_send_goal(goal_, send_goal_options);
+ auto future_goal_handle = action_client_->async_send_goal(goal_);
if (rclcpp::spin_until_future_complete(node_, future_goal_handle) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
{
@@ -121,7 +117,7 @@ new_goal_received:
throw std::runtime_error("Goal was rejected by the action server");
}
- auto future_result = goal_handle_->async_result();
+ auto future_result = action_client_->async_get_result(goal_handle_);
rclcpp::executor::FutureReturnCode rc;
do {
rc = rclcpp::spin_until_future_complete(node_, future_result, server_timeout_);
diff --git a/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp b/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp
index 05c081c5..747782b7 100644
--- a/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp
+++ b/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp
@@ -134,13 +134,8 @@ LifecycleManagerClient::navigate_to_pose(double x, double y, double theta)
auto goal = nav2_msgs::action::NavigateToPose::Goal();
goal.pose = target_pose;
- // Enable result awareness by providing an empty lambda function
- auto send_goal_options =
- typename rclcpp_action::Client<nav2_msgs::action::NavigateToPose>::SendGoalOptions();
- send_goal_options.result_callback = [](auto) {};
-
// Send it
- auto future_goal_handle = navigate_action_client_->async_send_goal(goal, send_goal_options);
+ auto future_goal_handle = navigate_action_client_->async_send_goal(goal);
if (rclcpp::spin_until_future_complete(node_, future_goal_handle) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
{
@@ -156,7 +151,8 @@ LifecycleManagerClient::navigate_to_pose(double x, double y, double theta)
}
// Wait for the action to complete
- auto future_result = goal_handle->async_result();
+ auto future_result = navigate_action_client_->async_get_result(goal_handle);
+
if (rclcpp::spin_until_future_complete(node_, future_result) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
{
diff --git a/nav2_recoveries/test/test_recoveries.cpp b/nav2_recoveries/test/test_recoveries.cpp
index c7e70fce..84a716cf 100644
--- a/nav2_recoveries/test/test_recoveries.cpp
+++ b/nav2_recoveries/test/test_recoveries.cpp
@@ -162,11 +162,7 @@ protected:
{
auto goal = RecoveryAction::Goal();
goal.command.data = command;
-
- auto goal_options = rclcpp_action::Client<RecoveryAction>::SendGoalOptions();
- goal_options.result_callback = [](auto) {};
-
- return client_->async_send_goal(goal, goal_options);
+ return client_->async_send_goal(goal);
}
Status getOutcome()
@@ -180,7 +176,7 @@ protected:
ClientGoalHandle::WrappedResult getResult()
{
- auto future_result = goal_handle_->async_result();
+ auto future_result = client_->async_get_result(goal_handle_);
rclcpp::executor::FutureReturnCode frc;
do {
--
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