Fix zero waypoints crash #1978
Fix zero waypoints crash #1978
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| @@ -127,6 +127,11 @@ WaypointFollower::followWaypoints() | |||
| get_logger(), "Received follow waypoint request with %i waypoints.", | |||
| static_cast<int>(goal->poses.size())); | |||
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| if (goal->poses.size() == 0) { | |||
| action_server_->terminate_all(); | |||
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I think this should auto-succeed rather than terminate since it technically succeeded in doing nothing
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I was looking for more information/documentation about how the Action Server should respond. I encountered the Fibonacci examples. However, I did not find detailed explanations (including cpp examples). Do you know where I can find such info? |
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can you be more specific? I don't know what you mean by "how it should respond" |
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I was not sure what an action server should do on success. For example, In the explanation of actions there is a description of the states and the state transitions. So, I was looking for the |
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Yeah that was the correct way to handle it. Terminate is used when it failed (and terminate all is used to terminate not just the current action, but all pending actions as well). We use succeeded_current for a successful outcome to send back the correct result code. Can't have failed waypoints when there are no waypoints. |
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Check. The descriptions in the code/API and the code of the SimpleActionServer are also useful for me. |
* return if the number of waypoints is zero. * terminate the action. * Succeed action instead of terminating.
* initialize variables in inflation layer (#1970) * Fix zero waypoints crash (#1978) * return if the number of waypoints is zero. * terminate the action. * Succeed action instead of terminating. * Add IsBatteryLow condition node (#1974) * Add IsBatteryLow condition node * Update default battery topic and switch to battery % * Fix test * Switch to sensor_msgs/BatteryState * Add option to use voltage by default or switch to percentage * Add sensor_msgs dependency in package.xml * Make percentage default over voltage * Update parameter list * Initialize inflate_cone_ variable. (#1988) * Initialize inflate_cone_ variable. * initialize inflate_cone_ based on parameter. * Increase the sleep time in the tests makes the costmap test always succeed on my machine. * Add timeouts to all spin_until_future_complete calls (#1998) * Add timeouts to all spin_until_future_complete calls Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Update default timeout value Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Controllers should not be influenced by time jumps or slew (#2012) * Controllers should not be influenced by time jumps Therefore use rclcpp::GenericRate<std::chrono::steady_clock> instead of rclcpp::Rate Signed-off-by: Martijn Buijs <martijn.buijs@gmail.com> * Change to using `rclcpp::WallRate` for better readability Signed-off-by: Martijn Buijs <martijn.buijs@gmail.com> * Fix max path cycles for case where map has larger Y dimension than X dimension (#2017) * Fix max path cycles for case where map has larger Y dimension than X dimension * Improve readability * fix ament_cpplint and ament_uncrustify issues * fix minor cherry pick conflict mistake * bump version to 0.4.4 Co-authored-by: Michael Ferguson <mfergs7@gmail.com> Co-authored-by: Wilco Bonestroo <w.j.bonestroo@saxion.nl> Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com> Co-authored-by: Martijn Buijs <Martijn.buijs@gmail.com> Co-authored-by: justinIRBT <69175069+justinIRBT@users.noreply.github.com>
* return if the number of waypoints is zero. * terminate the action. * Succeed action instead of terminating.
Basic Info
Description of contribution in a few bullet points
Check for the number of waypoints. If there are no waypoints, then terminate the action and return.
Description of documentation updates required from your changes
No updates to documentation required.