Also have to update the Simple Navigator

ros-navigation · May 8, 2019 · 13b9379 · 13b9379
1 parent 3012e89
commit 13b9379
Showing 1 changed file with 10 additions and 2 deletions.
diff --git a/nav2_simple_navigator/src/simple_navigator.cpp b/nav2_simple_navigator/src/simple_navigator.cpp
@@ -127,8 +127,12 @@ SimpleNavigator::navigateToPose(const std::shared_ptr<GoalHandle> goal_handle)
 
   planner_client_->wait_for_action_server();
 
+  // Enable result awareness by providing an empty lambda function
+  auto planner_goal_options = typename rclcpp_action::Client<nav2_msgs::action::ComputePathToPose>::SendGoalOptions();
+  planner_goal_options.result_callback = [](auto){};
+
   // Send the goal pose to the planner
-  auto planner_future_goal_handle = planner_client_->async_send_goal(planner_goal);
+  auto planner_future_goal_handle = planner_client_->async_send_goal(planner_goal, planner_goal_options);
   if (rclcpp::spin_until_future_complete(client_node_, planner_future_goal_handle) !=
     rclcpp::executor::FutureReturnCode::SUCCESS)
   {
@@ -180,9 +184,13 @@ SimpleNavigator::navigateToPose(const std::shared_ptr<GoalHandle> goal_handle)
   nav2_msgs::action::FollowPath::Goal controller_goal;
   controller_goal.path = planner_result.result->path;
 
+  // Enable result awareness by providing an empty lambda function
+  auto controller_goal_options = typename rclcpp_action::Client<nav2_msgs::action::FollowPath>::SendGoalOptions();
+  controller_goal_options.result_callback = [](auto){};
+
   // Send the goal pose to the local planner
   RCLCPP_INFO(get_logger(), "Sending path to the controller to execute");
-  auto controller_future_goal_handle = controller_client_->async_send_goal(controller_goal);
+  auto controller_future_goal_handle = controller_client_->async_send_goal(controller_goal, controller_goal_options);
   if (rclcpp::spin_until_future_complete(client_node_, controller_future_goal_handle) !=
     rclcpp::executor::FutureReturnCode::SUCCESS)
   {