Merge pull request #672 from Affonso-Gui/fibonacci-server-cancel

jsk-ros-pkg · Sep 7, 2021 · 44e37d6 · 44e37d6
2 parents e45df01 + a79826d
commit 44e37d6
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/roseus/test/fibonacci-server.l b/roseus/test/fibonacci-server.l
@@ -15,6 +15,10 @@
   (let ((order (send goal :goal :order))
         (sequence (list 1 0)) msg)
     (dotimes (i (1- order))
+      (send server :spin-once)
+      (when (send server :is-preempt-requested)
+        (send server :set-preempted)
+        (return-from fibonacci-execute-cb nil))
       (push (+ (car sequence) (cadr sequence)) sequence)
       (setq msg (send server :feedback :sequence (reverse sequence)))
       (send server :publish-feedback msg)