Check if goal was sent through IPC before send result

rclcpp/include/rclcpp/experimental/action_client_intra_process_base.hpp

@@ -158,6 +158,17 @@ class ActionClientIntraProcessBase : public rclcpp::Waitable
  event_info_multi_map_.erase(goal_id);
  }
 
+ bool has_goal_id(size_t goal_id) const
+ {
+ // Check if the intra-process client has this goal_id
+ auto it = event_info_multi_map_.find(goal_id);
+ if (it != event_info_multi_map_.end()) {
+ return true;
+ }
+
+ return false;
+ }
+
 private:
  std::string action_name_;
  QoS qos_profile_;

rclcpp_action/include/rclcpp_action/client.hpp

@@ -845,12 +845,18 @@ class Client : public ClientBase
  // the server might be available in another process or was configured to not use IPC.
  if (intra_process_server_available) {
  size_t hashed_guuid = std::hash<GoalUUID>()(goal_handle->get_goal_id());
- ipc_action_client_->store_result_response_callback(
- hashed_guuid, result_response_callback);
 
- intra_process_send_done = ipm->template intra_process_action_send_result_request<ActionT>(
- ipc_action_client_id_,
- std::move(goal_result_request));
+ // check if this goal has been sent through intra-process
+ bool goal_sent_by_ipc = ipc_action_client_->has_goal_id(hashed_guuid);
+
+ if (goal_sent_by_ipc) {
+ ipc_action_client_->store_result_response_callback(
+ hashed_guuid, result_response_callback);
+
+ intra_process_send_done = ipm->template intra_process_action_send_result_request<ActionT>(
+ ipc_action_client_id_,
+ std::move(goal_result_request));
+ }
  }
  }