Skip to content

Fix GoalStream waiter resumption in action send_goal flow #53

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
Timple wants to merge 1 commit into from
Closed

Fix GoalStream waiter resumption in action send_goal flow #53

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 1 addition & 6 deletions rclcpp_async/include/rclcpp_async/co_context.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand Down
Loading