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Update goal response callback signature #100

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Merged
clalancette merged 1 commit into from
Sep 21, 2020
Merged

Update goal response callback signature #100

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11 changes: 2 additions & 9 deletions turtlesim/tutorials/teleop_turtle_key.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -161,7 +161,6 @@ class TeleopTurtle
private:
void spin();
void sendGoal(float theta);
void goalResponseCallback(std::shared_future<rclcpp_action::ClientGoalHandle<turtlesim::action::RotateAbsolute>::SharedPtr> future);
void cancelGoal();

rclcpp::Node::SharedPtr nh_;
Expand Down Expand Up @@ -193,20 +192,14 @@ void TeleopTurtle::sendGoal(float theta)
goal.theta = theta;
auto send_goal_options = rclcpp_action::Client<turtlesim::action::RotateAbsolute>::SendGoalOptions();
send_goal_options.goal_response_callback =
[this](std::shared_future<rclcpp_action::ClientGoalHandle<turtlesim::action::RotateAbsolute>::SharedPtr> future)
[this](rclcpp_action::ClientGoalHandle<turtlesim::action::RotateAbsolute>::SharedPtr goal_handle)
{
RCLCPP_DEBUG(nh_->get_logger(), "Goal response received");
this->goal_handle_ = future.get();
this->goal_handle_ = goal_handle;
};
rotate_absolute_client_->async_send_goal(goal, send_goal_options);
}

void TeleopTurtle::goalResponseCallback(std::shared_future<rclcpp_action::ClientGoalHandle<turtlesim::action::RotateAbsolute>::SharedPtr> future)
{
RCLCPP_DEBUG(nh_->get_logger(), "Goal response received");
this->goal_handle_ = future.get();
}

void TeleopTurtle::cancelGoal()
{
if (goal_handle_)
Expand Down