Wait on result

Signed-off-by: methylDragon <[email protected]>
locusrobotics · Jan 10, 2023 · 85aa1bc · 85aa1bc
1 parent ff677c9
commit 85aa1bc
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diff --git a/fuse_models/src/graph_ignition.cpp b/fuse_models/src/graph_ignition.cpp
@@ -182,6 +182,7 @@ void GraphIgnition::process(const fuse_msgs::msg::SerializedGraph& msg)
     auto srv = std::make_shared<std_srvs::srv::Empty::Request>();
     // No need to spin since node is optimizer node, which should be spinning
     auto result_future = reset_client_->async_send_request(srv);
+    result_future.wait();
   }
 
   // Now that the optimizer has been reset, actually send the initial state constraints to the optimizer

diff --git a/fuse_models/src/unicycle_2d_ignition.cpp b/fuse_models/src/unicycle_2d_ignition.cpp
@@ -274,6 +274,7 @@ void Unicycle2DIgnition::process(const geometry_msgs::msg::PoseWithCovarianceSta
     auto srv = std::make_shared<std_srvs::srv::Empty::Request>();
     // No need to spin since node is optimizer node, which should be spinning
     auto result_future = reset_client_->async_send_request(srv);
+    result_future.wait();
   }
 
   // Now that the pose has been validated and the optimizer has been reset, actually send the initial state constraints