... | ... | @@ -387,6 +387,7 @@ public: |
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private:
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rclcpp_action::Client<NavigateToPose>::SharedPtr client_ptr_;
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rclcpp::TimerBase::SharedPtr timer_;
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std::thread cancel_thread_;
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void goal_response_callback(std::shared_future<GoalHandleNavigateToPose::SharedPtr> future)
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{
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... | ... | @@ -404,9 +405,11 @@ private: |
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{
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if(feedback->navigation_time.sec>60)
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{
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client_ptr_->async_cancel_goal(goal_handle);
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RCLCPP_INFO(this->get_logger(), "Timeout");
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rclcpp::shutdown();
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cancel_thread_ = std::thread([this]) {
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client_ptr_->async_cancel_goal(goal_handle);
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RCLCPP_INFO(this->get_logger(), "Timeout");
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rclcpp::shutdown();
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});
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}
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}
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... | ... | |