Skip to content
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.

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

publish action goal status once accepted before execution. #1228

Open
wants to merge 1 commit into
base: rolling
Choose a base branch
from
Open
Changes from all commits
Commits
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
3 changes: 3 additions & 0 deletions rclpy/rclpy/action/server.py
Original file line number Diff line number Diff line change
Expand Up @@ -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)

Expand Down