Add Test Case for rclcpp_action Where the Status Message is Received Before the Service Response - #2781
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Signed-off-by: Tony <tony@lazamedical.com>
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| // Spin until the client receives the goal | ||
| dual_spin_until_future_complete(future_goal_handle); |
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in this particular case, i believe that GoalResponse(accepted) and Status messages are already in the rmw implementation, and the question here is which should be taken 1st. currently, the order to take the action entities is feedback, status, goal_response, result_response and cancel_response. so that status is going to be taken and processed before goal_response.
but this order only matters when the messages are already in the queue of rmw implementation.
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This topic was discussed last week during the client library working group. |
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Add test cases to the rclcpp_action clients where the Executing status response is received before the service callback. The test leverages a specific sequence of spin() invocation on the executors, however, it is possible to reproduce this non-deterministically in other cases. A forthcoming issue ticket will give more details.