[actions] don't cancel if not RUNNING

splintered-reality · May 24, 2019 · 50ff82c · 50ff82c
1 parent 35c8383
commit 50ff82c
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -4,6 +4,7 @@ Changelog
 
 Forthcoming
 -----------
+* [actions] bugfix action client, don't cancel if not RUNNING
 * [conversions] bugfix msg_to_behaviour for decorators
 * [watchers] bugfix tree-watchers dot-graph to string functionality
 
@@ -16,7 +17,7 @@ Stripped down and rebuilt for ROS2:
 * [blackboard] the exchange, mostly unmodified
 * [infra] colcon build environment
 * [trees] simpler communications, just one serialised tree snapshot, watchers do the rest
-* [watchers] revamped 'blackboard' and new 'tree' watcher 
+* [watchers] revamped 'blackboard' and new 'tree' watcher
 
 What's missing:
 

diff --git a/py_trees_ros/actions.py b/py_trees_ros/actions.py
@@ -168,7 +168,10 @@ def terminate(self, new_status: py_trees.common.Status):
                 "{}->{}".format(self.status, new_status) if self.status != new_status else "{}".format(new_status)
             )
         )
-        if self.status != new_status and new_status == py_trees.common.Status.INVALID:
+        if (
+            self.status == py_trees.common.Status.RUNNING
+            and new_status == py_trees.common.Status.INVALID
+        ):
             self.send_cancel_request()
 
     def shutdown(self):