Fix actions feedback race

- ros2#2451
irobot-ros · Aug 23, 2024 · 9bc4a4b · 9bc4a4b
1 parent 7b44b4c
commit 9bc4a4b
Showing 1 changed file with 10 additions and 10 deletions.
diff --git a/rclcpp_action/src/client.cpp b/rclcpp_action/src/client.cpp
@@ -355,16 +355,6 @@ ClientBase::is_ready(rcl_wait_set_t * wait_set)
 
   pimpl_->next_ready_event = ClientBaseImpl::NO_EVENT_READY;
 
-  if (is_feedback_ready) {
-    pimpl_->next_ready_event = static_cast<size_t>(EntityType::FeedbackSubscription);
-    return true;
-  }
-
-  if (is_status_ready) {
-    pimpl_->next_ready_event = static_cast<size_t>(EntityType::StatusSubscription);
-    return true;
-  }
-
   if (is_goal_response_ready) {
     pimpl_->next_ready_event = static_cast<size_t>(EntityType::GoalClient);
     return true;
@@ -380,6 +370,16 @@ ClientBase::is_ready(rcl_wait_set_t * wait_set)
     return true;
   }
 
+  if (is_feedback_ready) {
+    pimpl_->next_ready_event = static_cast<size_t>(EntityType::FeedbackSubscription);
+    return true;
+  }
+
+  if (is_status_ready) {
+    pimpl_->next_ready_event = static_cast<size_t>(EntityType::StatusSubscription);
+    return true;
+  }
+
   return false;
 }