feat: specify submodule branch and improve goal success handling
- Added `branch = main` to the `env_manager` submodule in `.gitmodules`. - Set the `success` flag in `m_current_result` on goal success in `mtp_jtc.cpp`.
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.gitmodules
vendored
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.gitmodules
vendored
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@ -1,3 +1,4 @@
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[submodule "env_manager"]
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[submodule "env_manager"]
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path = env_manager
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path = env_manager
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url = https://gitlab.com/solid-sinusoid/env_manager.git
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url = https://gitlab.com/solid-sinusoid/env_manager.git
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branch = main
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@ -108,6 +108,7 @@ protected:
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&wrapped_result) {
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&wrapped_result) {
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if (wrapped_result.code == rclcpp_action::ResultCode::SUCCEEDED) {
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if (wrapped_result.code == rclcpp_action::ResultCode::SUCCEEDED) {
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RCLCPP_INFO(this->get_logger(), "Goal succeeded");
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RCLCPP_INFO(this->get_logger(), "Goal succeeded");
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m_current_result->success = true;
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m_current_goal_handle->succeed(m_current_result);
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m_current_goal_handle->succeed(m_current_result);
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} else {
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} else {
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RCLCPP_ERROR(this->get_logger(), "Goal failed");
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RCLCPP_ERROR(this->get_logger(), "Goal failed");
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