Fix cancellation, feedback

Signed-off-by: Luca Della Vedova <[email protected]>
osrf · Dec 9, 2024 · 2e5b29e · 2e5b29e
1 parent fb67a79
commit 2e5b29e
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/nexus_system_orchestrator/src/system_orchestrator.cpp b/nexus_system_orchestrator/src/system_orchestrator.cpp
@@ -868,7 +868,7 @@ void SystemOrchestrator::_halt_job(const std::string& job_id)
         std::make_shared<endpoints::RemovePendingTaskService::ServiceType::Request>();
       req->task_id = task_id;
       const auto resp =
-        this->_workcell_sessions.at(task_id)->remove_pending_task_client->
+        this->_workcell_sessions.at(wc_id)->remove_pending_task_client->
         send_request(req);
       if (!resp->success)
       {

diff --git a/nexus_system_orchestrator/src/workcell_request.cpp b/nexus_system_orchestrator/src/workcell_request.cpp
@@ -107,7 +107,9 @@ WorkcellRequest::make_goal()
 void WorkcellRequest::on_feedback(
   endpoints::WorkcellRequestAction::ActionType::Feedback::ConstSharedPtr msg)
 {
-  this->_ctx->task_states.at(this->_task.id) = msg->state;
+  // Will insert a new state if one was not created at work order creation time
+  // i.e. for transportation requests that are done after task assignments
+  this->_ctx->task_states[this->_task.id] = msg->state;
   this->_on_task_progress(this->_ctx->task_states);
 }