new feedback_handler for python ActionState

uleroboticsgroup · Jun 30, 2024 · 0445830 · 0445830
1 parent 50d3b58
commit 0445830
Showing 1 changed file with 2 additions and 5 deletions.
diff --git a/yasmin_ros/yasmin_ros/action_state.py b/yasmin_ros/yasmin_ros/action_state.py
@@ -117,11 +117,8 @@ def execute(self, blackboard: Blackboard) -> str:
         self._node.get_logger().info(
             f"Sending goal to action '{self._action_name}'")
 
-        feedback_handler = None
-
-        if self._feedback_handler is not None:
-
-            def feedback_handler(feedback):
+        def feedback_handler(feedback):
+            if self._feedback_handler is not None:
                 self._feedback_handler(blackboard, feedback.feedback)
 
         send_goal_future = self._action_client.send_goal_async(