From a160af8de3215aa1887300931cf0d91c5940e78f Mon Sep 17 00:00:00 2001
From: Pimpest <82343504+Pimpest@users.noreply.github.com>
Date: Fri, 2 May 2025 19:00:34 +0200
Subject: [PATCH] Fixed path_buffer waiting for a-star to finish

---
 mg_navigation/src/path_buffer.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/mg_navigation/src/path_buffer.cpp b/mg_navigation/src/path_buffer.cpp
index 09776a1..41ab424 100644
--- a/mg_navigation/src/path_buffer.cpp
+++ b/mg_navigation/src/path_buffer.cpp
@@ -2,6 +2,9 @@
 
 #include <glm/gtx/norm.hpp>
 
+#include <chrono>
+using namespace std::chrono_literals;
+
 namespace mg {
 
     PathBuffer::PathBuffer(rclcpp::Node* node) : current(-1), node_(node) {
@@ -20,7 +23,6 @@ namespace mg {
                && glm::distance2(pos, IdToCoords(path_msg_->indicies[current])) < lookahead * lookahead) {
             current++;
         }
-
         if (current == (int)path_msg_->indicies.size()) {
             double best = 10000000;
             int    id   = 0;
@@ -46,7 +48,7 @@ namespace mg {
             req->y   = goal_->y;
             resp_    = client_->async_send_request(req).share();
         }
-        if (resp_.valid()) {
+        if (resp_.wait_for(0s) == std::future_status::ready) {
 
             path_msg_ = resp_.get();
             auto req  = std::make_shared<PathService::Request>();