Fix actions feedback race

- See ros2#2451 Signed-off-by: Mauro Passerino <mpasserino@irobot.com>
mauropasse · Aug 27, 2024 · 33d1e2a · 33d1e2a
1 parent c79c3d9
commit 33d1e2a
Showing 1 changed file with 10 additions and 10 deletions.
diff --git a/rclcpp_action/src/client.cpp b/rclcpp_action/src/client.cpp
@@ -353,16 +353,6 @@ ClientBase::is_ready(const rcl_wait_set_t & wait_set)
 
   pimpl_->next_ready_event = std::numeric_limits<size_t>::max();
 
-  if (is_feedback_ready) {
-    pimpl_->next_ready_event = static_cast<size_t>(EntityType::FeedbackSubscription);
-    return true;
-  }
-
-  if (is_status_ready) {
-    pimpl_->next_ready_event = static_cast<size_t>(EntityType::StatusSubscription);
-    return true;
-  }
-
   if (is_goal_response_ready) {
     pimpl_->next_ready_event = static_cast<size_t>(EntityType::GoalClient);
     return true;
@@ -378,6 +368,16 @@ ClientBase::is_ready(const rcl_wait_set_t & wait_set)
     return true;
   }
 
+  if (is_feedback_ready) {
+    pimpl_->next_ready_event = static_cast<size_t>(EntityType::FeedbackSubscription);
+    return true;
+  }
+
+  if (is_status_ready) {
+    pimpl_->next_ready_event = static_cast<size_t>(EntityType::StatusSubscription);
+    return true;
+  }
+
   return false;
 }