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Fix datarace in ActionClient::initClient() #62

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merged 2 commits into from
Mar 19, 2017

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1r0b1n0
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@1r0b1n0 1r0b1n0 commented Jan 11, 2017

1] ConnectionMonitor should only be initialized when ros::Time::now is valid (can only happen when using gazebo)
2] ConnectionMonitor didn't wait for the action/result topic. In some rare cases the action_client could stay stuck in the WAITING_FOR_RESULT state because the goal was sent before ROS connected to the the server's result topic

1r0b1n0 and others added 2 commits January 11, 2017 10:06
…onitor

- bugfix : connection_monitor should wait for result
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@mikaelarguedas mikaelarguedas left a comment

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Hi @1r0b1n0, Sorry for dropping the ball on this.
The change looks good to me, nice catch for the wrong callback used in the ConnectionMonitor.

I tried to reproduce the issue without this change but didn't see any failure in about 3000 runs. It doesn't change the fact that this change is an improvement and I will get it in the next release.

Thanks for your contribution!

@mikaelarguedas
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@ros-pull-request-builder retest this please

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2 participants