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Remove duplicate future handling from action client send_goal_async() (backport #1532) #1534

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Merged
merged 1 commit into from
Nov 4, 2025
Merged

Remove duplicate future handling from action client send_goal_async() (backport #1532) #1534

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9 changes: 1 addition & 8 deletions rclpy/rclpy/action/client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -524,7 +524,7 @@ def send_goal_async(
request = self._action_type.Impl.SendGoalService.Request()
request.goal_id = self._generate_random_uuid() if goal_uuid is None else goal_uuid
request.goal = goal
future = Future()
future: Future[ClientGoalHandle[GoalT, ResultT, FeedbackT]] = Future()
with self._lock:
sequence_number = self._client_handle.send_goal_request(request)
if sequence_number in self._pending_goal_requests:
Expand All @@ -541,13 +541,6 @@ def send_goal_async(
goal_uuid = bytes(request.goal_id.uuid)
self._feedback_callbacks[goal_uuid] = feedback_callback

future: Future[ClientGoalHandle[GoalT, ResultT, FeedbackT]] = Future()
self._pending_goal_requests[sequence_number] = future
self._goal_sequence_number_to_goal_id[sequence_number] = request.goal_id
future.add_done_callback(self._remove_pending_goal_request)
# Add future so executor is aware
self.add_future(future)

return future

def _cancel_goal(self, goal_handle: ClientGoalHandle[GoalT, ResultT, FeedbackT]
Expand Down