Reset cancel_request flag after process action cancellation (#132)

mauropasse · Mauro Passerino · web-flow · commit 6f6e3dcbd705 · 2023-11-29T08:45:11.000-08:00
Co-authored-by: Mauro Passerino &lt;mpasserino@irobot.com&gt;
diff --git a/rclcpp_action/src/server.cpp b/rclcpp_action/src/server.cpp
@@ -471,6 +471,8 @@ 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
`@@ -471,6 +471,8 @@ ServerBase::process_cancel_request(rcl_action_cancel_request_t & cancel_request)`
`471`	`471`	`void`
`472`	`472`	`ServerBase::execute_cancel_request_received(std::shared_ptr<void> & data)`
`473`	`473`	`{`
	`474`	`+ pimpl_->cancel_request_ready_ = false;`
	`475`	`+`
`474`	`476`	`auto shared_ptr = std::static_pointer_cast`
`475`	`477`	`<std::tuple<rcl_ret_t, std::shared_ptr<action_msgs::srv::CancelGoal::Request>,`
`476`	`478`	`rmw_request_id_t>>(data);`