From c52bdcfddcbc96704edbd42345d5a91626ae335f Mon Sep 17 00:00:00 2001 From: Jacob Perron Date: Fri, 24 May 2019 09:54:49 -0700 Subject: [PATCH] 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 https://github.com/ros2/rclcpp/pull/701. Signed-off-by: Jacob Perron --- rclcpp/minimal_action_client/not_composable.cpp | 2 +- rclcpp/minimal_action_client/not_composable_with_cancel.cpp | 2 +- rclcpp/minimal_action_client/not_composable_with_feedback.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/rclcpp/minimal_action_client/not_composable.cpp b/rclcpp/minimal_action_client/not_composable.cpp index 0259fcc0..05500c2f 100644 --- 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 index abd846dc..33bc58c4 100644 --- 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 index b54f162d..313cb232 100644 --- 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) !=