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SimpleActionState will no longer wait forever for a missing ActionServer #41

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SimpleActionState will no longer wait forever for a missing ActionServer #41

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5df1483
SimpleActionState will no longer wait forever
LoyVanBeek Oct 30, 2015
5225d60
Using correct timeout
LoyVanBeek Oct 30, 2015
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5 changes: 3 additions & 2 deletions smach_ros/src/smach_ros/simple_action_state.py
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Original file line number Diff line number Diff line change
Expand Up @@ -225,8 +225,9 @@ def _wait_for_server(self):
"""Internal method for waiting for the action server
This is run in a separate thread and allows construction of this state
to not block the construction of other states.
"""
while self._status == SimpleActionState.WAITING_FOR_SERVER and not rospy.is_shutdown():
"""
timeout_time = rospy.get_rostime() + self._server_wait_timeout
while self._status == SimpleActionState.WAITING_FOR_SERVER and not rospy.is_shutdown() and not rospy.get_rostime() >= timeout_time:
try:
if self._action_client.wait_for_server(rospy.Duration(1.0)):#self._server_wait_timeout):
self._status = SimpleActionState.INACTIVE
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