From 125347ba58f22a56423de0f87b9168c61fed4a37 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Pablo=20I=C3=B1igo=20Blasco?= <pablo@ibrobotics.com>
Date: Sat, 1 Jun 2024 22:01:24 +0200
Subject: [PATCH] Bug/cancel action blocker (#542)

* safe blocker bug on action cancellation

* format fix
---
 .../include/smacc2/client_bases/smacc_action_client_base.hpp  | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/smacc2/include/smacc2/client_bases/smacc_action_client_base.hpp b/smacc2/include/smacc2/client_bases/smacc_action_client_base.hpp
index ff3072a80..f93bbe0b0 100644
--- a/smacc2/include/smacc2/client_bases/smacc_action_client_base.hpp
+++ b/smacc2/include/smacc2/client_bases/smacc_action_client_base.hpp
@@ -100,6 +100,7 @@ class SmaccActionClientBase : public ISmaccActionClient
 
   std::optional<std::shared_future<typename GoalHandle::SharedPtr>> lastRequest_;
   // typename GoalHandle::SharedPtr goalHandle_;
+  std::optional<std::shared_future<typename CancelResponse::SharedPtr>> lastCancelResponse_;
 
   SmaccActionResultSignal onSucceeded_;
   SmaccActionResultSignal onAborted_;
@@ -217,8 +218,7 @@ class SmaccActionClientBase : public ISmaccActionClient
 
   virtual bool cancelGoal() override
   {
-    auto fut = this->client_->async_cancel_all_goals();
-    fut.wait();
+    lastCancelResponse_ = this->client_->async_cancel_all_goals();
 
     // if (lastRequest_ && lastRequest_->valid())
     // {