Hello,

I'm using the SimpleActionClient for my commanding for example navigation goals, which works great at the moment. The next step is to cancel the current goal if I get some topic or user input. My question for that is what is the best practise for this approach?

I also have to wait till the goal is finished

Solution 1 :

if(actionClient.isServerConnected())
{
    actionClient.sendGoalAndWait(goal); // possible with wake up time and check some variable
}

the action blocks until the goal is finished. It is possible to call in a seperate thread :

actionClient.cancelAllGoals() // thread safe?

Solution 2 :

if(actionClient.isServerConnected())
{
    actionClient.sendGoal(goal,FinishedCB); // possible with wake up time and check some variable
    conditionVariableNotification.wait(...) // conditionVariable can be notified by user topic or finished topic of Action
}

Solution 3: ???

What is your favourite approach to interrupt a goal?