Add the ability for ros actions nodes to get access to the action result even on failure #79
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…available on failure
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
The current implementation assumes that if the Ros Action is aborted or otherwise fails that the result returned from the action server is not meaningful. However,there are some cases where that is not true. Consider nav2/action/NavgiateThroughPoses which has an error code in the result. That error code is basically only applicable when the action fails!
The proposed implementation maintains API compatibility. If the user cares about the result, they can implement the newly added virtual method.
Note that result is nullopt on any code paths where a result is not available.