From 3a687c58e218c8c2dd1f2e85f1d11be20ad15f9f Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Thu, 11 May 2023 17:39:03 +0200
Subject: [PATCH] Removed timeout stops
---
src/tiago_arm_module.cpp | 6 ------
1 file changed, 6 deletions(-)
diff --git a/src/tiago_arm_module.cpp b/src/tiago_arm_module.cpp
index 3c89ed2..29c3cfd 100644
--- a/src/tiago_arm_module.cpp
+++ b/src/tiago_arm_module.cpp
@@ -70,34 +70,28 @@ void CTiagoArmModule::state_machine(void)
case ACTION_SUCCESS: ROS_INFO("CTiagoArmModule : action ended successfully");
this->state=TIAGO_ARM_MODULE_IDLE;
this->status=TIAGO_ARM_MODULE_SUCCESS;
- this->arm_action.stop_timeout();
break;
case ACTION_TIMEOUT: ROS_ERROR("CTiagoArmModule : action did not finish in the allowed time");
this->arm_action.cancel();
this->state=TIAGO_ARM_MODULE_IDLE;
this->status=TIAGO_ARM_MODULE_TIMEOUT;
- this->arm_action.stop_timeout();
break;
case ACTION_FB_WATCHDOG: ROS_ERROR("CTiagoArmModule : No feeback received for a long time");
this->arm_action.cancel();
this->state=TIAGO_ARM_MODULE_IDLE;
this->status=TIAGO_ARM_MODULE_FB_WATCHDOG;
- this->arm_action.stop_timeout();
break;
case ACTION_ABORTED: ROS_ERROR("CTiagoArmModule : Action failed to complete");
this->state=TIAGO_ARM_MODULE_IDLE;
this->status=TIAGO_ARM_MODULE_ABORTED;
- this->arm_action.stop_timeout();
break;
case ACTION_PREEMPTED: ROS_ERROR("CTiagoArmModule : Action was interrupted by another request");
this->state=TIAGO_ARM_MODULE_IDLE;
this->status=TIAGO_ARM_MODULE_PREEMPTED;
- this->arm_action.stop_timeout();
break;
case ACTION_REJECTED: ROS_ERROR("CTiagoArmModule : Action was rejected by server");
this->state=TIAGO_ARM_MODULE_IDLE;
this->status=TIAGO_ARM_MODULE_REJECTED;
- this->arm_action.stop_timeout();
break;
}
if(this->cancel_pending)
--
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