No need for active goal in service query

christophfroehlich · christophfroehlich · commit a423a518e294 · 2025-07-26T20:29:01.000Z
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -734,7 +734,7 @@ void JointTrajectoryController::query_state_service(
     response->success = false;
     return;
   }
-  const auto active_goal = *rt_active_goal_.readFromRT();
+
   response->name = params_.joints;
   trajectory_msgs::msg::JointTrajectoryPoint state_requested = state_current_;
   if (has_active_trajectory())

Original file line number	Diff line number	Diff line change
`@@ -734,7 +734,7 @@ void JointTrajectoryController::query_state_service(`
`734`	`734`	`response->success = false;`
`735`	`735`	`return;`
`736`	`736`	`}`
`737`		`- const auto active_goal = *rt_active_goal_.readFromRT();`
	`737`	`+`
`738`	`738`	`response->name = params_.joints;`
`739`	`739`	`trajectory_msgs::msg::JointTrajectoryPoint state_requested = state_current_;`
`740`	`740`	`if (has_active_trajectory())`