Always wait for result in RemoteCondition

jsk-ros-pkg · Oct 10, 2022 · 7b03f49 · 7b03f49
1 parent d22241a
commit 7b03f49
Showing 1 changed file with 2 additions and 3 deletions.
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());
   }