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Update call to async_send_goal #346

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Merged
jacobperron merged 2 commits into from
Apr 26, 2019
Merged

Update call to async_send_goal #346

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bc06ed8
Update call to async_send_goal
jacobperron Apr 18, 2019
4c89929
Use action client method for requesting goal result
jacobperron Apr 24, 2019
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6 changes: 4 additions & 2 deletions test_communication/test/test_action_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,8 +75,10 @@ send_goals(
};

// send the request
auto send_goal_options = typename rclcpp_action::Client<ActionT>::SendGoalOptions();
send_goal_options.feedback_callback = feedback_callback;
auto goal_handle_future =
action_client->async_send_goal(goal_tests[test_index].goal, feedback_callback);
action_client->async_send_goal(goal_tests[test_index].goal, send_goal_options);

using rclcpp::executor::FutureReturnCode;
// wait for the sent goal to be accepted
Expand All @@ -87,7 +89,7 @@ send_goals(
}

// wait for the result (feedback may be received in the meantime)
auto result_future = goal_handle_future.get()->async_result();
auto result_future = action_client->async_get_result(goal_handle_future.get());
status = rclcpp::spin_until_future_complete(node, result_future, 1000s);
if (status != FutureReturnCode::SUCCESS) {
RCLCPP_ERROR(logger, "failed to receive a goal result in time");
Expand Down