How do you cancel an actionlib action?

actionlib

asked 2016-04-21 17:46:57 -0600

Cerin
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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 -0600

ahendrix

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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: http://docs.ros.org/jade/api/actionli...

In the C++ action client, sendGoal returns a GoalHandle with a cancel method: http://docs.ros.org/jade/api/actionli...

On the python simple action client, there is a cancel_goal method: http://docs.ros.org/jade/api/actionli...

On the C++ SimpleActionClient, there is a cancelGoal method: http://docs.ros.org/jade/api/actionli...

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answered 2021-11-06 15:20:24 -0600

CroCo
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The class actionlib::SimpleActionClient<> has this function cancelGoal(). In this Writing a Simple Action Client example, the time limit is set to 30 seconds. After that, the client just quits. unfortunately, the author didn't send cancel request and the server keeps running even though the client is no longer exist. You can check the server is running by rostopic echo /fibonacci/feedback which allows you to see the feedback.

if (finished_before_timeout){
    actionlib::SimpleClientGoalState state = ac.getState();
    ROS_INFO("Action finished: %s",state.toString().c_str());
}else{
    ROS_INFO("Action did not finish before the time out.");

    // add this line
    ac.cancelGoal(); 
    ROS_INFO("Goal has been cancelled");
}