Prevents the Future result from being set twice. (#1599)

fujitatomoya · nadavelkabets · web-flow · commit a348801f7a8e · 2026-02-05T07:50:39.000+09:00
Signed-off-by: Tomoya Fujita &lt;Tomoya.Fujita@sony.com&gt;
Co-authored-by: Nadav Elkabets &lt;elnadav12@gmail.com&gt;
diff --git a/rclpy/rclpy/action/server.py b/rclpy/rclpy/action/server.py
@@ -215,15 +215,18 @@ def executing(self) -> None:
 
     def succeed(self, response: Optional[ResultT] = None) -> None:
         self._update_state(_rclpy.GoalEvent.SUCCEED)
-        self._set_result(response)
+        if response is not None:
+            self._set_result(response)
 
     def abort(self, response: Optional[ResultT] = None) -> None:
         self._update_state(_rclpy.GoalEvent.ABORT)
-        self._set_result(response)
+        if response is not None:
+            self._set_result(response)
 
     def canceled(self, response: Optional[ResultT] = None) -> None:
         self._update_state(_rclpy.GoalEvent.CANCELED)
-        self._set_result(response)
+        if response is not None:
+            self._set_result(response)
 
     def destroy(self) -> None:
         with self._lock:
