Allow setting result in cancel and abort as well

Signed-off-by: Tim Clephas <[email protected]>

rclpy/rclpy/action/server.py

@@ -120,6 +120,16 @@ def _update_state(self, event):
  if not self._goal_handle.is_active():
  self._action_server.notify_goal_done()
 
+ def _set_result(self, response):
+ # Set result
+ result_response = self._action_server._action_type.Impl.GetResultService.Response()
+ result_response.status = self.status
+ if response is not None:
+ result_response.result = response
+ else:
+ result_response.result = self._action_server._action_type.Result()
+ self._action_server._result_futures[bytes(self.goal_id.uuid)].set_result(result_response)
+
  def execute(self, execute_callback=None):
  # It's possible that there has been a request to cancel the goal prior to executing.
  # In this case we want to avoid the illegal state transition to EXECUTING
@@ -151,21 +161,15 @@ def executing(self):
 
  def succeed(self, response=None):
  self._update_state(_rclpy.GoalEvent.SUCCEED)
+ self._set_result(response)
 
- # Set result
- result_response = self._action_server._action_type.Impl.GetResultService.Response()
- result_response.status = self.status
- if response is not None:
- result_response.result = response
- else:
- result_response.result = self._action_server._action_type.Result()
- self._action_server._result_futures[bytes(self.goal_id.uuid)].set_result(result_response)
-
- def abort(self):
+ def abort(self, response=None):
  self._update_state(_rclpy.GoalEvent.ABORT)
+ self._set_result(response)
 
- def canceled(self):
+ def canceled(self, response=None):
  self._update_state(_rclpy.GoalEvent.CANCELED)
+ self._set_result(response)
 
  def destroy(self):
  with self._lock: