Merge pull request #53 from umdlife/main_umd

Fix cancel goal with empty goal handle
BehaviorTree · Apr 10, 2024 · b82d850 · b82d850
2 parents ce923e1 + bd15f2f
commit b82d850
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
@@ -433,6 +433,12 @@ template<class T> inline
 template<class T> inline
  void RosActionNode<T>::cancelGoal()
 {
+ if (!goal_handle_)
+ {
+ RCLCPP_WARN( node_->get_logger(), "cancelGoal called on an empty goal_handle");
+ return;
+ }
+
  auto future_result = action_client_->async_get_result(goal_handle_);
  auto future_cancel = action_client_->async_cancel_goal(goal_handle_);