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Fix action completed conclusion by distinguishing between preempted and aborted #125

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Fix action completed conclusion by distinguishing between preempted and aborted #125

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5 changes: 3 additions & 2 deletions smach_ros/smach_ros/simple_action_state.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@ class ActionState(Enum):
CANCELING = 3
CANCELED = 4
COMPLETED = 5
ABORTED = 6


class SimpleActionState(RosState):
Expand Down Expand Up @@ -416,7 +417,7 @@ def execute(self, ud):
if self.preempt_requested():
self.service_preempt()
outcome = 'preempted'
elif self._status == ActionState.CANCELING:
elif self._status == ActionState.CANCELING or self._status == ActionState.ABORTED:
# Preempting or exec timeout but goal not cancelled
outcome = 'aborted'
else:
Expand Down Expand Up @@ -493,7 +494,7 @@ def get_result_str(i):
elif self._goal_status == GoalStatus.STATUS_CANCELED:
self._status = ActionState.CANCELED
elif self._goal_status == GoalStatus.STATUS_ABORTED:
self._status = ActionState.CANCELED
self._status = ActionState.ABORTED

self.node.get_logger().debug(f"Goal completed: {self._client_goal_handle}")

Expand Down