From a8ace08720b965dc202b1d460f4da6e07aa00ddf Mon Sep 17 00:00:00 2001 From: "Tomoya.Fujita" Date: Mon, 26 Feb 2024 23:15:23 -0800 Subject: [PATCH] publish action goal status once accepted before execution. Signed-off-by: Tomoya.Fujita --- rclpy/rclpy/action/server.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/rclpy/rclpy/action/server.py b/rclpy/rclpy/action/server.py index 64a2d0320..751d2b970 100644 --- a/rclpy/rclpy/action/server.py +++ b/rclpy/rclpy/action/server.py @@ -321,6 +321,9 @@ async def _execute_goal_request(self, request_header_and_message): self._logger.debug('New goal accepted: {0}'.format(goal_uuid.uuid)) + # Publish accepted status before execution + self._handle.publish_status() + # Provide the user a reference to the goal handle await await_or_execute(self._handle_accepted_callback, goal_handle)