Add feedback sending capability to RealtimeServerGoalHandle. #18
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+1 looks decent but someone else should review |
| @@ -114,6 +125,10 @@ class RealtimeServerGoalHandle | |||
| else | |||
| gh_.setSucceeded(); | |||
| } | |||
| if (req_feedback_) | |||
| { | |||
| gh_.publishFeedback(*req_feedback_); | |||
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What happens when req_feedback_ is NULL as per the default value of setFeedback(...)?
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According to my test, just nothing gets published.
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@miguelprada everything seems to be fine here, but I didn't notice there wasn't a kinetic-devel branch. Could you please rebase it? I'm ready to merge and should do it today, in the worst case I will cherry pick your changes over there. |
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I've merged #19 with these changes, closing. |
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@bmagyar Sorry, I didn't see your comment until now. Seems you already handled everything, thanks! |
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👍 |
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These changes try to make it possible to publish action feedback through the RealtimeServerGoalHandle, mimicking the way it's done with the action result, as discussed in ros-controls/ros_controllers#173.
I'm afraid that there might be some concurrency issues if the realtime thread is writing new feedback values and the non-realtime timer calls runNonRealtime at the same time, but I unfortunately don't have the time and/or knowledge to handle this properly. Any suggestions are welcome here.