Avoid stack traces when aborting an advertised action goal (#906)

RobotWebTools · Feb 5, 2024 · 4e49c3f · 4e49c3f
1 parent 48a1c62
commit 4e49c3f
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py b/rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py
@@ -80,7 +80,9 @@ async def execute_callback(self, goal: Any) -> Any:
         def done_callback(fut: rclpy.task.Future()) -> None:
             if fut.cancelled():
                 goal.abort()
-                fut.set_exception(RuntimeError(f"Aborted goal {goal_id}"))
+                self.protocol.log("info", f"Aborted goal {goal_id}")
+                # Send an empty result to avoid stack traces
+                fut.set_result(get_action_class(self.action_type).Result())
             else:
                 goal.succeed()