From eae50c9ed16c0b2fa4c7ca2c92bb8c30d5f6836f Mon Sep 17 00:00:00 2001 From: spiralray Date: Tue, 14 Sep 2021 17:47:15 +0000 Subject: [PATCH] fix expired goals capacity of action server (#931) Signed-off-by: Kentaro Tanaka --- rcl_action/src/rcl_action/action_server.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rcl_action/src/rcl_action/action_server.c b/rcl_action/src/rcl_action/action_server.c index cbed688eb..a5b6dbde4 100644 --- a/rcl_action/src/rcl_action/action_server.c +++ b/rcl_action/src/rcl_action/action_server.c @@ -602,7 +602,7 @@ rcl_action_expire_goals( int64_t goal_time; size_t num_goal_handles = action_server->impl->num_goal_handles; for (size_t i = 0u; i < num_goal_handles; ++i) { - if (output_expired && i >= expired_goals_capacity) { + if (output_expired && num_goals_expired >= expired_goals_capacity) { // no more space to output expired goals, so stop expiring them break; }