From ffb771c17f12b062b80155b29d32b0d00abc8dd6 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 20 Nov 2024 18:18:10 +0100
Subject: [PATCH] Solved a bug when the state is LOST: the result pointer is
not valid and generated a segmentation fault.
---
include/iri_ros_tools/module_action.h | 10 +++++++++-
1 file changed, 9 insertions(+), 1 deletion(-)
diff --git a/include/iri_ros_tools/module_action.h b/include/iri_ros_tools/module_action.h
index 182f780..47027a6 100644
--- a/include/iri_ros_tools/module_action.h
+++ b/include/iri_ros_tools/module_action.h
@@ -223,24 +223,32 @@ class CModuleAction
{
ROS_ERROR_STREAM("CModuleAction::action_done: goal on server " << this->name << " aborted");
this->status=ACTION_ABORTED;
+ this->action_result_msg=*result;
}
if(state==actionlib::SimpleClientGoalState::REJECTED)
{
ROS_ERROR_STREAM("CModuleAction::action_done: goal on server " << this->name << " rejected");
this->status=ACTION_REJECTED;
+ this->action_result_msg=*result;
}
else if(state==actionlib::SimpleClientGoalState::PREEMPTED)
{
ROS_WARN_STREAM("CModuleAction::action_done: goal on server " << this->name << " preempted");
this->status=ACTION_PREEMPTED;
+ this->action_result_msg=*result;
}
else if(state==actionlib::SimpleClientGoalState::SUCCEEDED)
{
ROS_INFO_STREAM("CModuleAction::action_done: goal on server " << this->name << " successfull");
this->status=ACTION_SUCCESS;
+ this->action_result_msg=*result;
+ }
+ else if(state==actionlib::SimpleClientGoalState::LOST)
+ {
+ ROS_INFO_STREAM("CModuleAction::action_done: goal on server " << this->name << " lost");
+ this->status=ACTION_SUCCESS;
}
}
- this->action_result_msg=*result;
this->action_feedback_msg=Feedback();
this->action_timeout.stop();
this->action_access.exit();
--
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