From c2d9e64622e695eb0337f89b45de8811a7763920 Mon Sep 17 00:00:00 2001
From: Peter <peter@armnova>
Date: Wed, 11 May 2022 16:28:25 -0400
Subject: [PATCH] fix None condition

---
 arm_robots/src/arm_robots/robot.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/arm_robots/src/arm_robots/robot.py b/arm_robots/src/arm_robots/robot.py
index 35add9c..b77b392 100644
--- a/arm_robots/src/arm_robots/robot.py
+++ b/arm_robots/src/arm_robots/robot.py
@@ -290,7 +290,9 @@ def _feedback_cb(feedback: FollowJointTrajectoryFeedback):
                 result = client.get_result()
             failure = (result is None or result.error_code != FollowJointTrajectoryResult.SUCCESSFUL)
             if self.raise_on_failure and failure:
-                raise RuntimeError(f"Follow Joint Trajectory Failed: ({result.error_code}) {result.error_string}")
+                if result is not None:
+                    raise RuntimeError(f"Follow Joint Trajectory Failed: ({result.error_code}) {result.error_string}")
+                raise RuntimeError(f"Follow Joint Trajectory Failed: (???)")
 
         success = result is not None and result.error_code == FollowJointTrajectoryResult.SUCCESSFUL
         return ExecutionResult(trajectory=trajectory,