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adapt to action implicit changes (#602)

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Shane Loretz 2018-12-06 16:42:25 -08:00 • committed by GitHub
parent fe09d937b7
commit ef2014ac4d
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5 changed files with 31 additions and 29 deletions
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8
rclcpp_action/include/rclcpp_action/server.hpp
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@ -434,7 +434,8 @@ protected:
GoalID
get_goal_id_from_goal_request(void * message) override
{
return static_cast<typename ActionT::GoalRequestService::Request *>(message)->uuid;
return
static_cast<typename ActionT::GoalRequestService::Request *>(message)->action_goal_id.uuid;
}
/// \internal
@ -448,7 +449,8 @@ protected:
GoalID
get_goal_id_from_result_request(void * message) override
{
return static_cast<typename ActionT::GoalResultService::Request *>(message)->uuid;
return
static_cast<typename ActionT::GoalResultService::Request *>(message)->action_goal_id.uuid;
}
/// \internal
@ -463,7 +465,7 @@ protected:
create_result_response(decltype(action_msgs::msg::GoalStatus::status) status) override
{
auto result = std::make_shared<typename ActionT::GoalResultService::Response>();
result->status = status;
result->action_status = status;
return std::static_pointer_cast<void>(result);
}