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Add guard on Python single goal action server example (#380)
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Signed-off-by: Ruddick Lawrence <679360+mrjogo@users.noreply.github.com>
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mrjogo authored May 16, 2024
1 parent 05aa97e commit 65bd653
Showing 1 changed file with 6 additions and 1 deletion.
Original file line number Diff line number Diff line change
Expand Up @@ -100,7 +100,12 @@ def execute_callback(self, goal_handle):
# Sleep for demonstration purposes
time.sleep(1)

goal_handle.succeed()
with self._goal_lock:
if not goal_handle.is_active:
self.get_logger().info('Goal aborted')
return Fibonacci.Result()

goal_handle.succeed()

# Populate result message
result = Fibonacci.Result()
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