| 135 | } |
| 136 | |
| 137 | rclcpp_action::GoalResponse |
| 138 | TreeExecutionServer::handle_goal(const rclcpp_action::GoalUUID& /* uuid */, |
| 139 | std::shared_ptr<const ExecuteTree::Goal> goal) |
| 140 | { |
| 141 | RCLCPP_INFO(kLogger, "Received goal request to execute Behavior Tree: %s", |
| 142 | goal->target_tree.c_str()); |
| 143 | |
| 144 | if(!onGoalReceived(goal->target_tree, goal->payload)) |
| 145 | { |
| 146 | return rclcpp_action::GoalResponse::REJECT; |
| 147 | } |
| 148 | return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; |
| 149 | } |
| 150 | |
| 151 | rclcpp_action::CancelResponse TreeExecutionServer::handle_cancel( |
| 152 | const std::shared_ptr<GoalHandleExecuteTree> goal_handle) |
nothing calls this directly
no outgoing calls
no test coverage detected