is_ready if goal expired

ros2 · Dec 6, 2018 · bf4797a · bf4797a
1 parent 8a21dec
commit bf4797a
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/rclcpp_action/src/server.cpp b/rclcpp_action/src/server.cpp
@@ -179,7 +179,8 @@ ServerBase::is_ready(rcl_wait_set_t * wait_set)
 
   return pimpl_->goal_request_ready_ ||
          pimpl_->cancel_request_ready_ ||
-         pimpl_->result_request_ready_;
+         pimpl_->result_request_ready_ ||
+         pimpl_->goal_expired_;
 }
 
 void