From 661140438d036f4e922382bbd9ac4e219b17c1e7 Mon Sep 17 00:00:00 2001
From: Sung-Hyeon Joo <wntjdgus0917@gmail.com>
Date: Tue, 24 May 2022 01:30:26 +0900
Subject: [PATCH] check action_completed condition for the failed state

---
 .../src/PlanDispatch/EsterelPlanDispatcher.cpp                  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp b/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp
index cb0dc1d67..6a04cafb7 100644
--- a/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp
+++ b/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp
@@ -355,7 +355,7 @@ namespace KCL_rosplan {
         }
 
         // action completed (failed)
-        if(!action_completed[msg->action_id] && 0 == msg->status == rosplan_dispatch_msgs::ActionFeedback::ACTION_FAILED) {
+        if(!action_completed[msg->action_id] && msg->status == rosplan_dispatch_msgs::ActionFeedback::ACTION_FAILED) {
 
             // check action is part of current plan
             if(!action_received[msg->action_id]) {