publish action goal status once accepted before execution.

Signed-off-by: Tomoya.Fujita <[email protected]>
ros2 · Feb 27, 2024 · a8ace08 · a8ace08
1 parent 9536f8e
commit a8ace08
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/rclpy/rclpy/action/server.py b/rclpy/rclpy/action/server.py
@@ -321,6 +321,9 @@ async def _execute_goal_request(self, request_header_and_message):
 
         self._logger.debug('New goal accepted: {0}'.format(goal_uuid.uuid))
 
+        # Publish accepted status before execution
+        self._handle.publish_status()
+
         # Provide the user a reference to the goal handle
         await await_or_execute(self._handle_accepted_callback, goal_handle)