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fix to bt action server logging before bt execution result being ready #4677

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merged 1 commit into from
Sep 15, 2024
Merged

fix to bt action server logging before bt execution result being ready #4677

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6 changes: 3 additions & 3 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -312,18 +312,18 @@ void BtActionServer<ActionT>::executeCallback()

switch (rc) {
case nav2_behavior_tree::BtStatus::SUCCEEDED:
RCLCPP_INFO(logger_, "Goal succeeded");
action_server_->succeeded_current(result);
RCLCPP_INFO(logger_, "Goal succeeded");
break;

case nav2_behavior_tree::BtStatus::FAILED:
RCLCPP_ERROR(logger_, "Goal failed");
action_server_->terminate_current(result);
RCLCPP_ERROR(logger_, "Goal failed");
break;

case nav2_behavior_tree::BtStatus::CANCELED:
RCLCPP_INFO(logger_, "Goal canceled");
action_server_->terminate_all(result);
RCLCPP_INFO(logger_, "Goal canceled");
break;
}

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