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Excpetion when the goal is rejected. #103

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teyssieuman opened this issue Dec 9, 2024 · 0 comments
Open

Excpetion when the goal is rejected. #103

teyssieuman opened this issue Dec 9, 2024 · 0 comments

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@teyssieuman
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https://github.com/BehaviorTree/BehaviorTree.ROS2/blob/cc31ea7b97947f1aac6e8c37df6cec379c84a7d9/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp#L549C3-L550C71

When the goal is rejected by the server, this goal_handle_ is nullptr. The function assync_get_result() then goes to an exception.

It seems that checking for goal_handle_==nullptr then returning correct this problem.
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@teyssieuman