Fix issues when canceling and unadvertising actions #896
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EzraBrooks
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Dec 14, 2023
Yeah, this is why I kept a comment with the segfault when normally I would have just deleted that line. |
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I found a segfault in Humble described in ros2/rclcpp#2163 (comment) with destroying action servers while an executor is processing something.
For now, this simple change resolves the issue.
I also added a cancellation callback to the ROS 2 action servers that get created on advertise, which properly aborts the future that is created when first executing the goal.