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Support None for no timeout in line with rospy.wait_for_message #173

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Support None for no timeout in line with rospy.wait_for_message #173

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3 changes: 3 additions & 0 deletions actionlib/src/actionlib/action_client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -588,6 +588,9 @@ def wait_for_action_server_to_start(self, timeout=rospy.Duration(0.0)):
## a connection, thus, risking the first few goals to be dropped. This call lets
## the user wait until the network connection to the server is negotiated
def wait_for_server(self, timeout=rospy.Duration(0.0)):
if timeout is None:
timeout = rospy.Duration(0.0)

started = False
timeout_time = rospy.get_rostime() + timeout
while not rospy.is_shutdown():
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3 changes: 3 additions & 0 deletions actionlib/src/actionlib/simple_action_client.py
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Expand Up @@ -122,6 +122,9 @@ def send_goal_and_wait(self, goal, execute_timeout=rospy.Duration(), preempt_tim
## @param timeout Max time to block before returning. A zero timeout is interpreted as an infinite timeout.
## @return True if the goal finished. False if the goal didn't finish within the allocated timeout
def wait_for_result(self, timeout=rospy.Duration()):
if timeout is None:
timeout = rospy.Duration()

if not self.gh:
rospy.logerr("Called wait_for_result when no goal exists")
return False
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