From 7e719d41cc90d302adf345dc69270cdfdf171632 Mon Sep 17 00:00:00 2001
From: pepeRossRobotics <66112254+pepeRossRobotics@users.noreply.github.com>
Date: Thu, 15 Aug 2024 13:47:08 +0100
Subject: [PATCH] Update bt_action_node.hpp

Fix to avoid crashing the BT
---
 behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
index 05c664d..5970ead 100644
--- a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
+++ b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
@@ -422,6 +422,7 @@ inline NodeStatus RosActionNode<T>::tick()
           if(!goal_handle_)
           {
             RCLCPP_ERROR(logger(), "Goal was rejected by server");
+            return onFailure(GOAL_REJECTED_BY_SERVER);
           }
           else
           {