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should also check if action status publisher is ready. (#541)

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Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>
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tomoya 2019-11-29 22:12:31 +09:00 • committed by Ivan Santiago Paunovic
parent 8cf33b3ad0
commit 80340c8b5a
1 changed files with 7 additions and 0 deletions
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7
rcl_action/src/rcl_action/action_client.c
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@ -284,6 +284,13 @@ rcl_action_server_is_available(
} }
*is_available = *is_available && (number_of_publishers != 0); *is_available = *is_available && (number_of_publishers != 0);
ret = rcl_subscription_get_publisher_count(
&(client->impl->status_subscription), &number_of_publishers);
if (RCL_RET_OK != ret) {
return ret; // error is already set
}
*is_available = *is_available && (number_of_publishers != 0);
return RCL_RET_OK; return RCL_RET_OK;
} }