a workaround patch for ros-navigation#1652

Signed-off-by: Daisuke Sato <[email protected]>

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

@@ -214,7 +214,10 @@ class BtActionNode : public BT::ActionNodeBase
     auto send_goal_options = typename rclcpp_action::Client<ActionT>::SendGoalOptions();
     send_goal_options.result_callback =
       [this](const typename rclcpp_action::ClientGoalHandle<ActionT>::WrappedResult & result) {
-        if (result.code != rclcpp_action::ResultCode::ABORTED) {
+        // TODO(#1652): a work around until rcl_action interface is updated
+        // if goal ids are not matched, the older goal is aborted by preemption so ignore the result
+        // if matched, goal is aborted in other reason so it must be processed
+        if (this->goal_handle_->get_goal_id() == result.goal_id) {
           goal_result_available_ = true;
           result_ = result;
         }
@@ -249,6 +252,7 @@ class BtActionNode : public BT::ActionNodeBase
   typename ActionT::Goal goal_;
   bool goal_updated_{false};
   bool goal_result_available_{false};
+
   typename rclcpp_action::ClientGoalHandle<ActionT>::SharedPtr goal_handle_;
   typename rclcpp_action::ClientGoalHandle<ActionT>::WrappedResult result_;