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Fix joint trajectory controller so results message is returned on tolerance failures #592

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Original file line number Diff line number Diff line change
Expand Up @@ -406,6 +406,8 @@ update(const ros::Time& time, const ros::Duration& period)
rt_segment_goal->preallocated_result_->error_code =
control_msgs::FollowJointTrajectoryResult::PATH_TOLERANCE_VIOLATED;
rt_segment_goal->setAborted(rt_segment_goal->preallocated_result_);
// Force this to run before destroying rt_active_goal_ so results message is returned
rt_active_goal_->runNonRealtime(ros::TimerEvent());
rt_active_goal_.reset();
successful_joint_traj_.reset();
}
Expand Down Expand Up @@ -441,6 +443,8 @@ update(const ros::Time& time, const ros::Duration& period)

rt_segment_goal->preallocated_result_->error_code = control_msgs::FollowJointTrajectoryResult::GOAL_TOLERANCE_VIOLATED;
rt_segment_goal->setAborted(rt_segment_goal->preallocated_result_);
// Force this to run before destroying rt_active_goal_ so results message is returned
rt_active_goal_->runNonRealtime(ros::TimerEvent());
rt_active_goal_.reset();
successful_joint_traj_.reset();
}
Expand Down