Check error flags when canceling an action task #19
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Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi>
Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi>
Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi>
Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi>
Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi>
tanelikor
requested changes
Jul 27, 2024
Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi>
tanelikor
reviewed
Jul 29, 2024
Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi>
Jannkar
reviewed
Jul 29, 2024
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Adds check for the error flags present in the CancelGoal.Response message which we receive when canceling an action goal. Checking flags
ERROR_UNKNOWN_GOAL_IDandERROR_GOAL_TERMINATEDto avoid falsely claiming a failure of cancellation if the goal is no longer valid (for example a case where the action server had restarted during the execution of a previous task and now a new task has been given).Also added a simple mypy config.
Next future improvement in this regard will be to monitor the connection to the server during task execution. This could give more flexibility to some of the hard coded timeout limits for example. Also should work nicely for the service tasks as well.