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Check goal status to avoid sending stale feedback if goal is not acti…
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…ve anymore.
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miguelprada committed May 19, 2016
1 parent be6d89a commit 5a41a8d
Showing 1 changed file with 1 addition and 1 deletion.
2 changes: 1 addition & 1 deletion include/realtime_tools/realtime_server_goal_handle.h
Original file line number Diff line number Diff line change
Expand Up @@ -125,7 +125,7 @@ class RealtimeServerGoalHandle
else
gh_.setSucceeded();
}
if (req_feedback_)
if (req_feedback_ && gs.status == GoalStatus::ACTIVE)
{
gh_.publishFeedback(*req_feedback_);
}
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