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Deprecate ClientGoalHandle::async_result() (#1120)

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Fixes https://github.com/ros2/rclcpp/issues/955

There are currently two public APIs for users to get the result of a goal.
This change deprecates one of the APIs, which was considered to be unsafe as
it may result in a race with user-code and raise an exception.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
This commit is contained in:
Jacob Perron 2020-05-21 11:39:07 -07:00 • committed by GitHub
parent 2aaeee72a6
commit 64bdef61c8
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4 changed files with 24 additions and 2 deletions
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rclcpp_action/test/test_client.cpp
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@ -304,7 +304,6 @@ TEST_F(TestClient, async_send_goal_no_callbacks)
EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
EXPECT_FALSE(goal_handle->is_feedback_aware());
EXPECT_FALSE(goal_handle->is_result_aware());
EXPECT_THROW(goal_handle->async_result(), rclcpp_action::exceptions::UnawareGoalHandleError);
}
TEST_F(TestClient, async_send_goal_no_callbacks_wait_for_result)