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How do you cancel an actionlib action?

asked 2016-04-21 17:46:57 -0500

Cerin gravatar image

How does an actionlib client cancel an ongoing action?

The docs clearly explain how to code an actionlib server to react to a cancellation request and exit, but I can't find any example of how this is initiated by the client.

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answered 2016-04-21 18:25:48 -0500

ahendrix gravatar image

Each of the client APIs for the action clients has a cancel method. The full API documentation can be accessed through the Code API link on the main wiki page.

In the python action client, send_goal returns ClientGoalHandle which can be used to cancel the goal:

In the C++ action client, sendGoal returns a GoalHandle with a cancel method:

On the python simple action client, there is a cancel_goal method:

On the C++ SimpleActionClient, there is a cancelGoal method:

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answered 2018-01-17 15:19:47 -0500

AndyZe gravatar image
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Asked: 2016-04-21 17:46:57 -0500

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Last updated: Jan 17 '18