From f88bd47b79583799ce09c6bd6d255edaf03d72bb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Mon, 30 Oct 2017 14:39:40 +0000
Subject: [PATCH] Removed the status check in the is_finished() and cancel()
functions to be able to perform the desired operations when a timeout or
watchdog error have been reported.
---
include/iri_ros_tools/module_action.h | 20 ++++++--------------
1 file changed, 6 insertions(+), 14 deletions(-)
diff --git a/include/iri_ros_tools/module_action.h b/include/iri_ros_tools/module_action.h
index cc6c7f0..a74dc2f 100644
--- a/include/iri_ros_tools/module_action.h
+++ b/include/iri_ros_tools/module_action.h
@@ -664,12 +664,9 @@ void CModuleAction<action_ros>::cancel(void)
{
actionlib::SimpleClientGoalState action_state(actionlib::SimpleClientGoalState::PENDING);
- if(this->status==ACTION_RUNNING)
- {
- action_state=action_client->getState();
- if(action_state==actionlib::SimpleClientGoalState::ACTIVE)
- this->action_client->cancelGoal();
- }
+ action_state=action_client->getState();
+ if(action_state==actionlib::SimpleClientGoalState::ACTIVE)
+ this->action_client->cancelGoal();
}
template<class action_ros>
@@ -677,14 +674,9 @@ bool CModuleAction<action_ros>::is_finished(void)
{
actionlib::SimpleClientGoalState action_state(actionlib::SimpleClientGoalState::PENDING);
- if(this->status==ACTION_RUNNING)
- {
- action_state=action_client->getState();
- if(action_state==actionlib::SimpleClientGoalState::ACTIVE)
- return false;
- else
- return true;
- }
+ action_state=action_client->getState();
+ if(action_state==actionlib::SimpleClientGoalState::ACTIVE)
+ return false;
else
return true;
}
--
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