Reset cancel_request flag after process action cancellation (irobot-ros#132)

mauropasse · Mauro Passerino · apojomovsky · commit 4e7891458ff3 · 2024-06-21T16:41:50.000-04:00
Co-authored-by: Mauro Passerino &lt;mpasserino@irobot.com&gt;
diff --git a/rclcpp_action/src/server.cpp b/rclcpp_action/src/server.cpp
@@ -479,6 +479,8 @@ ServerBase::process_cancel_request(rcl_action_cancel_request_t & cancel_request)
 void
 ServerBase::execute_cancel_request_received(std::shared_ptr<void> & data)
 {
+  pimpl_->cancel_request_ready_ = false;
+
   auto shared_ptr = std::static_pointer_cast
     <std::tuple<rcl_ret_t, std::shared_ptr<action_msgs::srv::CancelGoal::Request>,
       rmw_request_id_t>>(data);

Original file line number	Diff line number	Diff line change
`@@ -479,6 +479,8 @@ ServerBase::process_cancel_request(rcl_action_cancel_request_t & cancel_request)`
`479`	`479`	`void`
`480`	`480`	`ServerBase::execute_cancel_request_received(std::shared_ptr<void> & data)`
`481`	`481`	`{`
	`482`	`+ pimpl_->cancel_request_ready_ = false;`
	`483`	`+`
`482`	`484`	`auto shared_ptr = std::static_pointer_cast`
`483`	`485`	`<std::tuple<rcl_ret_t, std::shared_ptr<action_msgs::srv::CancelGoal::Request>,`
`484`	`486`	`rmw_request_id_t>>(data);`