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Do not drop future returned by async_send_goal. #3921

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Do not drop future returned by async_send_goal. #3921

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6 changes: 3 additions & 3 deletions source/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -312,21 +312,21 @@ That response is handled by ``goal_response_callback``:

.. literalinclude:: scripts/client.cpp
:language: c++
:lines: 62-71
:lines: 64-71

Assuming the goal was accepted by the server, it will start processing.
Any feedback to the client will be handled by the ``feedback_callback``:

.. literalinclude:: scripts/client.cpp
:language: c++
:lines: 72-83
:lines: 73-83

When the server is finished processing, it will return a result to the client.
The result is handled by the ``result_callback``:

.. literalinclude:: scripts/client.cpp
:language: c++
:lines: 84-107
:lines: 85-107

We now have a fully functioning action client. Let's get it built and running.

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3 changes: 2 additions & 1 deletion source/Tutorials/Intermediate/Writing-an-Action-Server-Client/scripts/client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,12 +53,13 @@ class FibonacciActionClient : public rclcpp::Node
std::bind(&FibonacciActionClient::feedback_callback, this, _1, _2);
send_goal_options.result_callback =
std::bind(&FibonacciActionClient::result_callback, this, _1);
this->client_ptr_->async_send_goal(goal_msg, send_goal_options);
goal_future_ = this->client_ptr_->async_send_goal(goal_msg, send_goal_options);
}

private:
rclcpp_action::Client<Fibonacci>::SharedPtr client_ptr_;
rclcpp::TimerBase::SharedPtr timer_;
std::shared_future<GoalHandleFibonacci::SharedPtr> goal_future_;

void goal_response_callback(const GoalHandleFibonacci::SharedPtr & goal_handle)
{
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