Skip to content

Fix behavior server #4602

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Aug 8, 2024
Merged

Fix behavior server #4602

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
18 changes: 9 additions & 9 deletions nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -237,15 +237,6 @@ class TimedBehavior : public nav2_core::Behavior

while (rclcpp::ok()) {
elasped_time_ = clock_->now() - start_time;
if (action_server_->is_cancel_requested()) {
RCLCPP_INFO(logger_, "Canceling %s", behavior_name_.c_str());
stopRobot();
result->total_elapsed_time = elasped_time_;
onActionCompletion(result);
action_server_->terminate_all(result);
return;
}

// TODO(orduno) #868 Enable preempting a Behavior on-the-fly without stopping
if (action_server_->is_preempt_requested()) {
RCLCPP_ERROR(
Expand All @@ -259,6 +250,15 @@ class TimedBehavior : public nav2_core::Behavior
return;
}

if (action_server_->is_cancel_requested()) {
RCLCPP_INFO(logger_, "Canceling %s", behavior_name_.c_str());
stopRobot();
result->total_elapsed_time = elasped_time_;
onActionCompletion(result);
action_server_->terminate_all(result);
return;
}

ResultStatus on_cycle_update_result = onCycleUpdate();
switch (on_cycle_update_result.status) {
case Status::SUCCEEDED:
Expand Down