[Robot] To transition to a succeeded state, the goal must be in a preempting or active state...

记录
错误：To transition to a succeeded state, the goal must be in a preempting or active state, it is currently in state: 2
原因：不能在抢占回调后server端仍然发送setSucceeded()，因为抢占后便放弃了之前的执行，错在此处

            server.setSucceeded();

解决：加入一个bool变量标识符在执行函数中，解决抢断的逻辑问题
执行函数修改如下

	void ExecuteCb(const franka_msgs::PickGoalConstPtr& goal)
    { 
    	action_ = true;//为保证标识符有效且不影响正常运行，应进入执行函数时便设置为true
    	 ...//(此处为代码块省略)
        if(action_){
            server.setSucceeded();
        }
    }

抢断函数修改如下：

    void preemptCb() 
    { 
       //会自动执行第一个目标再执行第二个。;
            ROS_INFO_STREAM("into preemptCB ...");
            action_ = false;//此处告知：我抢断了，就别发succeed了
    	    group_->stop();
    	    server.setPreempted();
	}

实际跑测有效

来源：CSDN

作者：红鲤鱼与彩虹

链接：https://blog.csdn.net/qq_38787214/article/details/103804180