From 9bc4a4bd90e58ce5c9328883f60e96163c83a2a9 Mon Sep 17 00:00:00 2001
From: Mauro Passerino <mpasserino@irobot.com>
Date: Thu, 22 Aug 2024 16:38:00 +0100
Subject: [PATCH] Fix actions feedback race

 - https://github.com/ros2/rclcpp/issues/2451
---
 rclcpp_action/src/client.cpp | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/rclcpp_action/src/client.cpp b/rclcpp_action/src/client.cpp
index c26cd723c8..62dd641c1f 100644
--- 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;
 }