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Returns CancelResponse::REJECT while goal handle failed to transit to CANCELING state (#1641) (#1659)

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Signed-off-by: Kaven Yau <kavenyau@foxmail.com>
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Kaven Yau 2021-05-20 06:22:41 +08:00 • committed by GitHub
parent d12ed36e89
commit 122355704b
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1 changed files with 8 additions and 1 deletions
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7
rclcpp_action/include/rclcpp_action/server.hpp
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@ -365,7 +365,14 @@ protected:
if (goal_handle) { if (goal_handle) {
resp = handle_cancel_(goal_handle); resp = handle_cancel_(goal_handle);
if (CancelResponse::ACCEPT == resp) { if (CancelResponse::ACCEPT == resp) {
try {
goal_handle->_cancel_goal(); goal_handle->_cancel_goal();
} catch (const rclcpp::exceptions::RCLError & ex) {
RCLCPP_DEBUG(
rclcpp::get_logger("rclcpp_action"),
"Failed to cancel goal in call_handle_cancel_callback: %s", ex.what());
return CancelResponse::REJECT;
}
} }
} }
return resp; return resp;