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Fix execution test setup and preemption #760

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Merged
rhaschke merged 1 commit into from
Aug 17, 2026
+5 −5
Merged

Fix execution test setup and preemption #760

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7 changes: 4 additions & 3 deletions capabilities/test/test_execution.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -73,6 +73,8 @@ def generate_test_description():
arguments=[
"panda_arm_controller",
"joint_state_broadcaster",
"--param-file",
ros2_controllers_path,
"--controller-manager",
"/controller_manager",
],
Expand Down Expand Up @@ -119,6 +121,5 @@ def test_gtest_run_complete(self, proc_info, test_exec):

@launch_testing.post_shutdown_test()
class TaskModelTestAfterShutdown(unittest.TestCase):
def test_exit_code(self, proc_info):
# Check that all processes in the launch exit with code 0
launch_testing.asserts.assertExitCodes(proc_info)
def test_exit_code(self, proc_info, test_exec):
launch_testing.asserts.assertExitCodes(proc_info, process=test_exec)
3 changes: 1 addition & 2 deletions core/src/task.cpp
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Expand Up @@ -318,8 +318,7 @@ moveit::core::MoveItErrorCode Task::execute(const SolutionBase& s) {
if (pimpl()->preempt_requested_) {
auto cancel_future = execute_ac_->async_cancel_goal(goal_handle);
this->resetPreemptRequest();
if (rclcpp::spin_until_future_complete(execute_solution_node_, cancel_future) !=
rclcpp::FutureReturnCode::SUCCESS) {
if (executor.spin_until_future_complete(cancel_future) != rclcpp::FutureReturnCode::SUCCESS) {
RCLCPP_ERROR(execute_solution_node_->get_logger(), "Could not preempt execution");
return error_code;
} else {
Expand Down
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