Added the handling of the rejected state in the module_action.

include/iri_ros_tools/module_action.h

@@ -33,7 +33,8 @@ typedef enum {ACTION_IDLE,
               ACTION_TIMEOUT,
               ACTION_FB_WATCHDOG,
               ACTION_ABORTED,
-              ACTION_PREEMPTED} action_status;
+              ACTION_PREEMPTED,
+              ACTION_REJECTED} action_status;
 
 /**
   * \brief Action client wrapper
@@ -205,6 +206,11 @@ class CModuleAction
         ROS_ERROR_STREAM("CModuleAction::action_done: goal on server " << this->name << " aborted");
         this->status=ACTION_ABORTED;
       }
+      if(state==actionlib::SimpleClientGoalState::REJECTED)
+      {
+        ROS_ERROR_STREAM("CModuleAction::action_done: goal on server " << this->name << " rejected");
+        this->status=ACTION_REJECTED;
+      }
       else if(state==actionlib::SimpleClientGoalState::PREEMPTED)
       {
         ROS_WARN_STREAM("CModuleAction::action_done: goal on server " << this->name << " preempted");
@@ -669,7 +675,7 @@ template<class action_ros>
 bool CModuleAction<action_ros>::is_finished(void)
 {
   actionlib::SimpleClientGoalState action_state(actionlib::SimpleClientGoalState::PENDING);
-
+  
   action_state=action_client->getState();
   if(action_state==actionlib::SimpleClientGoalState::ACTIVE)
     return false;
@@ -680,6 +686,9 @@ bool CModuleAction<action_ros>::is_finished(void)
 template<class action_ros>
 action_status CModuleAction<action_ros>::get_state(void)
 {
+  actionlib::SimpleClientGoalState action_state(actionlib::SimpleClientGoalState::PENDING);
+  
+  action_state=action_client->getState();
   if(this->status==ACTION_RUNNING)
   {
     if(this->use_timeout && this->is_timeout_active())