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Gracefully handle jump back in time #203

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Gracefully handle jump back in time #203

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7 changes: 4 additions & 3 deletions actionlib/include/actionlib/server/simple_action_server_imp.h
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Original file line number Diff line number Diff line change
Expand Up @@ -295,9 +295,10 @@ void SimpleActionServer<ActionSpec>::goalCallback(GoalHandle goal)
boost::recursive_mutex::scoped_lock lock(lock_);
ROS_DEBUG_NAMED("actionlib", "A new goal has been received by the single goal action server");

// check that the timestamp is past or equal to that of the current goal and the next goal
if ((!current_goal_.getGoal() || goal.getGoalID().stamp >= current_goal_.getGoalID().stamp) &&
(!next_goal_.getGoal() || goal.getGoalID().stamp >= next_goal_.getGoalID().stamp))
// check that the timestamp is past or equal to that of the current goal and the next goal (or time was reset)
ros::Time now = ros::Time::now();
if ((!current_goal_.getGoal() || goal.getGoalID().stamp >= current_goal_.getGoalID().stamp || now < current_goal_.getGoalID().stamp) &&
(!next_goal_.getGoal() || goal.getGoalID().stamp >= next_goal_.getGoalID().stamp || now < next_goal_.getGoalID().stamp))
{
// if next_goal has not been accepted already... its going to get bumped, but we need to let the client know we're preempting
if (next_goal_.getGoal() && (!current_goal_.getGoal() || next_goal_ != current_goal_)) {
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