Update bt_action_node.hpp (#89)

pepeRossRobotics · web-flow · commit 0cc2da20518a · 2025-10-30T06:16:51.000+01:00
Fix to avoid crashing the BT
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
@@ -426,6 +426,7 @@ inline NodeStatus RosActionNode<T>::tick()
           if(!goal_handle_)
           {
             RCLCPP_ERROR(logger(), "Goal was rejected by server");
+            return onFailure(GOAL_REJECTED_BY_SERVER);
           }
           else
           {

Original file line number	Diff line number	Diff line change
`@@ -426,6 +426,7 @@ inline NodeStatus RosActionNode<T>::tick()`
`426`	`426`	`if(!goal_handle_)`
`427`	`427`	`{`
`428`	`428`	`RCLCPP_ERROR(logger(), "Goal was rejected by server");`
	`429`	`+ return onFailure(GOAL_REJECTED_BY_SERVER);`
`429`	`430`	`}`
`430`	`431`	`else`
`431`	`432`	`{`