From 9d481f7cda8150fa7bafc5084bd06881bee61aec Mon Sep 17 00:00:00 2001
From: Tim Clephas <tim.clephas@nobleo.nl>
Date: Fri, 26 Jun 2026 16:12:17 +0200
Subject: [PATCH] Fix GoalStream waiter resumption in action send_goal flow

---
 rclcpp_async/include/rclcpp_async/co_context.hpp | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/rclcpp_async/include/rclcpp_async/co_context.hpp b/rclcpp_async/include/rclcpp_async/co_context.hpp
index fc96ed7..61b4802 100644
--- a/rclcpp_async/include/rclcpp_async/co_context.hpp
+++ b/rclcpp_async/include/rclcpp_async/co_context.hpp
@@ -500,12 +500,7 @@ void SendGoalAwaiter<ActionT>::await_suspend(std::coroutine_handle<> h)
       state->stream->client_ = client;
       state->result = Result<std::shared_ptr<GoalStream<ActionT>>>::Ok(state->stream);
     }
-    // Use post() instead of resume() to defer coroutine resumption.
-    // rclcpp_action holds goal_requests_mutex during this callback
-    // (Jazzy bug: https://github.com/ros2/rclcpp/issues/2796).
-    // Resuming synchronously here would deadlock if the coroutine
-    // immediately calls async_send_goal again.
-    ctx.post([&ctx, h]() { ctx.resume(h); });
+    ctx.resume(h);
   };
 
   client->async_send_goal(goal, options);