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[JTC] Deactivating controller while action is executed: invalid transition #1044

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christophfroehlich opened this issue Feb 14, 2024 · 0 comments
Open

[JTC] Deactivating controller while action is executed: invalid transition #1044

christophfroehlich opened this issue Feb 14, 2024 · 0 comments
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@christophfroehlich
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Describe the bug
Deactivating the controller while a an action is executed gives a warning with realtime_tools:

[ros2_control_node-6] [WARN] [1707917083.196860704] [realtime_tools]: goal_handle attempted invalid transition from state EXECUTING with event CANCELED, at /opt/ros2_ws/src/ros2/rcl/rcl_action/src/rcl_action/goal_handle.c:95

Environment (please complete the following information):

  • OS: debian
  • Version humble
  • source build

Additional context
This was introduced with #962
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@christophfroehlich