Skip to content

ROS 2 Humble SimpleActionState is stuck #129

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
amock wants to merge 2 commits into
base: ros2
Choose a base branch
from
+5 −1
Open

ROS 2 Humble SimpleActionState is stuck #129

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
a5f193d
removed conditional wait as it caused the state to wait forever
amock Apr 15, 2025
39cdf74
changed goal result check to is None
amock Apr 15, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 5 additions & 1 deletion smach_ros/smach_ros/simple_action_state.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -354,6 +354,8 @@ def execute(self, ud):
# Activate the state before sending the goal
self._activate_time = self.node.get_clock().now()
self._status = ActionState.ACTIVE
self._goal_result = None
self._goal_status = None

with self._done_cond:
# Dispatch goal via non-blocking call to action server
Expand All @@ -368,7 +370,9 @@ def execute(self, ud):
self._execution_timer_thread.start()

# Wait for action to finish
self._done_cond.wait()
while self._goal_result is None:
rclpy.spin_once(self.node)
time.sleep(0.01)

# Call user result callback if defined
result_cb_outcome = None
Expand Down