... | ... | @@ -403,7 +403,10 @@ private: |
|
|
{
|
|
|
if(feedback->navigation_time.sec>60)
|
|
|
{
|
|
|
client_ptr_->async_cancel_goal(goal_handle);
|
|
|
//FIXME as of ROS Galactic, it looks like async_cancel_goal is not working properly
|
|
|
// current work around is to cancel all goals.
|
|
|
//client_ptr_->async_cancel_goal(goal_handle);
|
|
|
client_ptr_->async_cancel_all_goals();
|
|
|
RCLCPP_INFO(this->get_logger(), "Timeout");
|
|
|
rclcpp::shutdown();
|
|
|
}
|
... | ... | |