fix to bt action server logging before bt execution result being ready

Signed-off-by: DreamWest <sirjamestsao@gmail.com>
ros-navigation · Sep 15, 2024 · 60f1962 · 60f1962
1 parent b71cccd
commit 60f1962
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
@@ -312,18 +312,18 @@ void BtActionServer<ActionT>::executeCallback()
 
   switch (rc) {
     case nav2_behavior_tree::BtStatus::SUCCEEDED:
-      RCLCPP_INFO(logger_, "Goal succeeded");
       action_server_->succeeded_current(result);
+      RCLCPP_INFO(logger_, "Goal succeeded");
       break;
 
     case nav2_behavior_tree::BtStatus::FAILED:
-      RCLCPP_ERROR(logger_, "Goal failed");
       action_server_->terminate_current(result);
+      RCLCPP_ERROR(logger_, "Goal failed");
       break;
 
     case nav2_behavior_tree::BtStatus::CANCELED:
-      RCLCPP_INFO(logger_, "Goal canceled");
       action_server_->terminate_all(result);
+      RCLCPP_INFO(logger_, "Goal canceled");
       break;
   }