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Published 20 hours ago • verified publisher icon ros

Fix/cancel goal in ROS1

Open MCFurry opened this issue 10 months ago • 3 comments

Inspired by: https://github.com/ros/executive_smach/pull/116 This is a ROS1 backport of these fixes.

It implements the preempt_timeout and fixes the canceling of goals, next to some formatting changes...

MCFurry avatar Apr 18 '24 06:04 MCFurry

Why would anyone backport these "fixes" to break existing code?

martincerven avatar May 08 '24 17:05 martincerven

The idea is to help the community, for example, by implementing the preempt_timeout inthis PR. This was never implemented before and thus can result in SimpleActionState being stuck in a deadlock if preempting an action fails.

How does it "break" your code then?

MCFurry avatar May 08 '24 18:05 MCFurry

You changed half a file to implement something, and it's definitely not more readable...

  • https://github.com/ros/executive_smach/blob/2fb24b3faf9063afd8c660e037f44d9221b73593/smach_ros/src/smach_ros/simple_action_state.py#L17 You added another class just to hold state variables?

martincerven avatar May 08 '24 18:05 martincerven