Ignore feedback from old goals in waypoint follower (#3139)

ros-navigation · Aug 24, 2022 · e5305c7 · e5305c7
1 parent dc568b1
commit e5305c7
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/nav2_waypoint_follower/src/waypoint_follower.cpp b/nav2_waypoint_follower/src/waypoint_follower.cpp
@@ -291,6 +291,7 @@ WaypointFollower::resultCallback(
       get_logger(),
       "Goal IDs do not match for the current goal handle and received result."
       "Ignoring likely due to receiving result for an old goal.");
+      return;
   }
 
   switch (result.code) {