Merge pull request #1 from mauropasse/mauro/apojomovsky-iron

Mauro/apojomovsky iron

Author: apojomovsky

rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

@@ -1061,7 +1061,7 @@ class IntraProcessManager
           auto ptr = MessageAllocTraits::allocate(allocator, 1);
           MessageAllocTraits::construct(allocator, ptr, *message);
 
-          subscription->provide_intra_process_data(std::move(MessageUniquePtr(ptr, deleter)));
+          subscription->provide_intra_process_data(MessageUniquePtr(ptr, deleter));
         }
 
         continue;
@@ -1104,7 +1104,7 @@ class IntraProcessManager
             MessageAllocTraits::construct(allocator, ptr, *message);
 
             ros_message_subscription->provide_intra_process_message(
-              std::move(MessageUniquePtr(ptr, deleter)));
+              MessageUniquePtr(ptr, deleter));
           }
         }
       }

rclcpp_action/include/rclcpp_action/client.hpp

@@ -97,6 +97,16 @@ class ClientBase : public rclcpp::Waitable
     );
   }
 
+  /// Return true if there is an intra-process action server that is ready to take goal requests.
+  bool
+  intra_process_action_server_is_available()
+  {
+    if (auto ipm = weak_ipm_.lock()) {
+      return ipm->action_server_is_available(ipc_action_client_id_);
+    }
+    return false;
+  }
+
   // -------------
   // Waitables API
 
@@ -835,12 +845,18 @@ class Client : public ClientBase
         // the server might be available in another process or was configured to not use IPC.
         if (intra_process_server_available) {
           size_t hashed_guuid = std::hash<GoalUUID>()(goal_handle->get_goal_id());
-          ipc_action_client_->store_result_response_callback(
-            hashed_guuid, result_response_callback);
 
-          intra_process_send_done = ipm->template intra_process_action_send_result_request<ActionT>(
-              ipc_action_client_id_,
-              std::move(goal_result_request));
+          // Determine if goal was sent through inter or intra process by checking the goal ID
+          bool goal_sent_by_ipc = ipm->get_action_client_id_from_goal_uuid(hashed_guuid);
+
+          if (goal_sent_by_ipc) {
+            ipc_action_client_->store_result_response_callback(
+              hashed_guuid, result_response_callback);
+
+            intra_process_send_done = ipm->template intra_process_action_send_result_request<ActionT>(
+                ipc_action_client_id_,
+                std::move(goal_result_request));
+          }
         }
       }
 

rclcpp_action/include/rclcpp_action/server.hpp

@@ -675,7 +675,8 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
       rclcpp::get_logger("rclcpp_action"),
       "Action server can't send result response, missing IPC Action client: %s. "
       "Will do inter-process publish",
-      this->action_name_.c_str());
+      this->action_name_);
+
     return true;
   }