Changes to avoid checking the action state when the action is not active.

include/iri_ros_tools/module_action.h

@@ -665,10 +665,13 @@ template<class action_ros>
 void CModuleAction<action_ros>::cancel(void)
 {
   actionlib::SimpleClientGoalState action_state(actionlib::SimpleClientGoalState::PENDING);
-  
-  action_state=action_client->getState();
-  if(action_state==actionlib::SimpleClientGoalState::ACTIVE)
-    this->action_client->cancelGoal();
+ 
+  if(this->status==ACTION_RUNNING)
+  { 
+    action_state=action_client->getState();
+    if(action_state==actionlib::SimpleClientGoalState::ACTIVE)
+      this->action_client->cancelGoal();
+  }
 }
 
 template<class action_ros>
@@ -676,9 +679,14 @@ 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;
+  if(this->status==ACTION_RUNNING)
+  {
+    action_state=action_client->getState();
+    if(action_state==actionlib::SimpleClientGoalState::ACTIVE)
+      return false;
+    else
+      return true;
+  } 
   else
     return true;
 }
@@ -688,9 +696,9 @@ 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)
   {
+    action_state=action_client->getState();
     if(this->use_timeout && this->is_timeout_active())
       this->status=ACTION_TIMEOUT;
     if(this->is_watchdog_active())