From bafa128d8dca8f1a69b92331c4df61b8ab1f6ddc Mon Sep 17 00:00:00 2001
From: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
Date: Sun, 7 Aug 2022 15:04:07 +0900
Subject: [PATCH] fix: update rclcpp action api

Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
---
 turtlebot4_node/include/turtlebot4_node/action.hpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/turtlebot4_node/include/turtlebot4_node/action.hpp b/turtlebot4_node/include/turtlebot4_node/action.hpp
index 58972c4..72f235b 100644
--- a/turtlebot4_node/include/turtlebot4_node/action.hpp
+++ b/turtlebot4_node/include/turtlebot4_node/action.hpp
@@ -141,9 +141,8 @@ class Turtlebot4Action
     * @input future - Shared future with goal response
     */
   void goal_response_callback(
-    std::shared_future<typename rclcpp_action::ClientGoalHandle<ActionT>::SharedPtr> future)
+    typename rclcpp_action::ClientGoalHandle<ActionT>::SharedPtr goal_handle)
   {
-    auto goal_handle = future.get();
     if (!goal_handle) {
       RCLCPP_ERROR(nh_->get_logger(), "%s goal was rejected by server", action_.c_str());
     } else {