(roseus_bt) Always wait for result in RemoteCondition

Affonso-Gui · Affonso-Gui · commit c4d2f2f3ef4e · 2022-10-10T14:56:36.000+09:00
diff --git a/roseus_bt/include/roseus_bt/eus_remote_condition_node.h b/roseus_bt/include/roseus_bt/eus_remote_condition_node.h
@@ -76,9 +76,8 @@ class EusRemoteConditionNode : public BT::ActionNodeBase
       service_client_.call(request);
     }
 
-    if (service_client_.isActive()) {
-      return NodeStatus::RUNNING;
-    }
+    // Conditions cannot operate asynchronously
+    service_client_.waitForResult();
 
     return onResponse(service_client_.getResult());
   }

Original file line number	Diff line number	Diff line change
`@@ -76,9 +76,8 @@ class EusRemoteConditionNode : public BT::ActionNodeBase`
`76`	`76`	`service_client_.call(request);`
`77`	`77`	`}`
`78`	`78`
`79`		`- if (service_client_.isActive()) {`
`80`		`- return NodeStatus::RUNNING;`
`81`		`- }`
	`79`	`+ // Conditions cannot operate asynchronously`
	`80`	`+ service_client_.waitForResult();`
`82`	`81`
`83`	`82`	`return onResponse(service_client_.getResult());`
`84`	`83`	`}`