Change goal response callback type from future to shared ptr

hsd-dev · Nov 13, 2020 · 590783e · 590783e
1 parent 9c471ba
commit 590783e
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/include/ros1_bridge/action_factory.hpp b/include/ros1_bridge/action_factory.hpp
@@ -139,9 +139,8 @@ class ActionFactory_1_2 : public ActionFactoryInterface
             //Changes as per Dashing
             auto send_goal_ops = ROS2SendGoalOptions();
             send_goal_ops.goal_response_callback =
-                [this](auto gh2_future) mutable {
-                    auto goal_handle = gh2_future.get();
-                    if (!goal_handle)
+                [this](auto gh2) mutable {
+                    if (!gh2)
                     {
                         gh1_.setRejected(); // goal was not accepted by remote server
                         return;
@@ -151,7 +150,7 @@ class ActionFactory_1_2 : public ActionFactoryInterface
 
                     {
                         std::lock_guard<std::mutex> lock(mutex_);
-                        gh2_ = goal_handle;
+                        gh2_ = gh2;
 
                         if (canceled_)
                         { // cancel was called in between