From e5305c7f85b96fe7676c1dd9662043109be053af Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Pedro=20Alejandro=20Gonz=C3=A1lez?=
 <71234974+pepisg@users.noreply.github.com>
Date: Mon, 22 Aug 2022 14:57:04 -0500
Subject: [PATCH] Ignore feedback from old goals in waypoint follower (#3139)

---
 nav2_waypoint_follower/src/waypoint_follower.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/nav2_waypoint_follower/src/waypoint_follower.cpp b/nav2_waypoint_follower/src/waypoint_follower.cpp
index 5de0a1a3f1..58aafef6a3 100644
--- 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) {