Use action client get result method

Since a result callback is not provided when sending the goal, the goal handle is not "result aware" and calling the action client method will make it so. The behaviour was changed in ros2/rclcpp#701. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
ros2 · May 24, 2019 · c52bdcf · c52bdcf
1 parent 1129fe8
commit c52bdcf
Show file tree

Hide file tree

Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/rclcpp/minimal_action_client/not_composable.cpp b/rclcpp/minimal_action_client/not_composable.cpp
@@ -54,7 +54,7 @@ int main(int argc, char ** argv)
   }
 
   // Wait for the server to be done with the goal
-  auto result_future = goal_handle->async_result();
+  auto result_future = action_client->async_get_result(goal_handle);
 
   RCLCPP_INFO(node->get_logger(), "Waiting for result");
   if (rclcpp::spin_until_future_complete(node, result_future) !=

diff --git a/rclcpp/minimal_action_client/not_composable_with_cancel.cpp b/rclcpp/minimal_action_client/not_composable_with_cancel.cpp
@@ -54,7 +54,7 @@ int main(int argc, char ** argv)
   }
 
   // Wait for the server to be done with the goal
-  auto result_future = goal_handle->async_result();
+  auto result_future = action_client->async_get_result(goal_handle);
 
   auto wait_result = rclcpp::spin_until_future_complete(
     node,

diff --git a/rclcpp/minimal_action_client/not_composable_with_feedback.cpp b/rclcpp/minimal_action_client/not_composable_with_feedback.cpp
@@ -68,7 +68,7 @@ int main(int argc, char ** argv)
   }
 
   // Wait for the server to be done with the goal
-  auto result_future = goal_handle->async_result();
+  auto result_future = action_client->async_get_result(goal_handle);
 
   RCLCPP_INFO(g_node->get_logger(), "Waiting for result");
   if (rclcpp::spin_until_future_complete(g_node, result_future) !=