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reset goal_handle to avoid attempt to cancel #254

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merged 2 commits into from
May 23, 2019
Merged

reset goal_handle to avoid attempt to cancel #254

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6a4181e
reset goal_handle to avoid attempt to cancel
dirk-thomas May 23, 2019
25cb741
fix spelling
dirk-thomas May 23, 2019
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11 changes: 8 additions & 3 deletions ros2action/ros2action/verb/send_goal.py
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Original file line number Diff line number Diff line change
Expand Up @@ -113,10 +113,12 @@ def send_goal(action_name, action_type, goal_values, feedback_callback):

if goal_handle is None:
raise RuntimeError(
'Exeception while sending goal: {!r}'.format(goal_future.exception()))
'Exception while sending goal: {!r}'.format(goal_future.exception()))

if not goal_handle.accepted:
print('Goal was rejected.')
# no need to potentially cancel the goal anymore
goal_handle = None
return

print('Goal accepted with ID: {}\n'.format(bytes(goal_handle.goal_id.uuid).hex()))
Expand All @@ -128,7 +130,10 @@ def send_goal(action_name, action_type, goal_values, feedback_callback):

if result is None:
raise RuntimeError(
'Exeception while getting result: {!r}'.format(result_future.exception()))
'Exception while getting result: {!r}'.format(result_future.exception()))

# no need to potentially cancel the goal anymore
goal_handle = None

print('Result:\n {}'.format(message_to_yaml(result.result, None)))
print('Goal finished with status: {}'.format(_goal_status_to_string(result.status)))
Expand All @@ -145,7 +150,7 @@ def send_goal(action_name, action_type, goal_values, feedback_callback):

if cancel_response is None:
raise RuntimeError(
'Exeception while canceling goal: {!r}'.format(cancel_future.exception()))
'Exception while canceling goal: {!r}'.format(cancel_future.exception()))

if len(cancel_response.goals_canceling) == 0:
raise RuntimeError('Failed to cancel goal')
Expand Down