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Fix cancel goal with empty goal handle #53

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merged 1 commit into from
Apr 10, 2024
Merged

Fix cancel goal with empty goal handle #53

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6 changes: 6 additions & 0 deletions behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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_);

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