publish action goal status once accepted before execution. (#1228)

Signed-off-by: Tomoya.Fujita <[email protected]> (cherry picked from commit 87fbec0)
ros2 · Feb 17, 2025 · 177e7d7 · 177e7d7
1 parent 259bd7f
commit 177e7d7
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/rclpy/rclpy/action/server.py b/rclpy/rclpy/action/server.py
@@ -321,6 +321,9 @@ async def _execute_goal_request(self, request_header_and_message):
 
         self._node.get_logger().debug('New goal accepted: {0}'.format(goal_uuid.uuid))
 
+        # Publish accepted status before execution
+        self._handle.publish_status()
+
         # Provide the user a reference to the goal handle
         await await_or_execute(self._handle_accepted_callback, goal_handle)