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Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>
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fujitatomoya
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mostly lgtm, but i am not so sure canceling should be preempted. I do not have any use case on this transition, could you share your thoughts?
| [GOAL_STATE_CANCELING] = { | ||
| [GOAL_EVENT_SUCCEED] = _succeed_event_handler, | ||
| [GOAL_EVENT_ABORT] = _abort_event_handler, | ||
| [GOAL_EVENT_PREEMPT] = _preempt_event_handler, |
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not sure canceling state can be preempted.
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I assumed preemption should work the same way as abort since that's how preemption is handled right now. But I get your point, preemption makes sense only when a previous goal is executing. |
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@sloretz friendly ping |
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It's been 2 months. @sloretz friendly ping. |
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Signed-off-by: Sarthak Mittal sarthakmittal2608@gmail.com
Adds terminal state
PREEMPTEDandPREEMPTevent to goal state machine in order to differentiate between a goal aborted due to genuine abort logic and goal aborted by the server due to preemption.Based on the discussions in the following ticket: ros2/design#284
Depends on: ros2/rcl_interfaces#105