From 3322344f89479410d8a8092505bc512fac689db5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Wed, 6 Jul 2011 18:31:40 +0000
Subject: [PATCH] Modified the iri action server to use the isActive() function
in the execute callback function.
---
include/iri_action_server/iri_action_server.h | 13 +++++++------
1 file changed, 7 insertions(+), 6 deletions(-)
diff --git a/include/iri_action_server/iri_action_server.h b/include/iri_action_server/iri_action_server.h
index ed1c0b9..50ceced 100755
--- a/include/iri_action_server/iri_action_server.h
+++ b/include/iri_action_server/iri_action_server.h
@@ -73,7 +73,7 @@ class IriActionServer
typedef boost::shared_ptr<Feedback> FeedbackPtr;
private:
-
+
/**
* \brief Start Callback object
*
@@ -307,6 +307,7 @@ IriActionServer<ActionSpec>::IriActionServer(ros::NodeHandle & nh, const std::st
template <class ActionSpec>
IriActionServer<ActionSpec>::~IriActionServer(void)
{
+
ROS_DEBUG("IriActionServer::Destructor");
}
@@ -359,10 +360,10 @@ void IriActionServer<ActionSpec>::executeCallback(const GoalConstPtr& goal)
start_action_callback_(goal);
// boolean to control action status
- bool is_active = true;
+ //bool is_active = true;
// while action is active
- while( is_active )
+ while(this->as_.isActive() )
{
ROS_DEBUG("IriActionServer::executeCallback::Active!");
@@ -371,17 +372,17 @@ void IriActionServer<ActionSpec>::executeCallback(const GoalConstPtr& goal)
if( as_.isPreemptRequested() || !ros::ok() )
{
ROS_DEBUG("IriActionServer::executeCallback::PREEMPTED!");
- is_active = false;
+ //is_active = false;
// stop action
stop_action_callback_();
- as_.setPreempted();
+ as_.setAborted();
}
// check if action has finished
else if( is_finished_callback_() )
{
ROS_DEBUG("IriActionServer::executeCallback::FINISH!");
- is_active = false;
+ //is_active = false;
// get action result
ResultPtr result(new Result);
--
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