From d1f8967c4ab36786ca22d062d7e0e5fa78aab41a Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 4 May 2023 13:09:13 +0200
Subject: [PATCH] Handled the timeout and watchdog internally.
---
include/iri_ros_tools/module_action.h | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/include/iri_ros_tools/module_action.h b/include/iri_ros_tools/module_action.h
index e299877..c960934 100644
--- a/include/iri_ros_tools/module_action.h
+++ b/include/iri_ros_tools/module_action.h
@@ -869,11 +869,16 @@ bool CModuleAction<action_ros,dyn_reconf_config>::is_finished(void)
if(this->enabled)
{
+ if(this->is_timeout_active() || this->is_watchdog_active())
+ this->cancel();
action_state=action_client->getState();
if(action_state==actionlib::SimpleClientGoalState::ACTIVE || action_state==actionlib::SimpleClientGoalState::PENDING)
return false;
else
+ {
+ this->stop_timeout();
return true;
+ }
}
else
return true;
--
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