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How can I use actionlib API directly to send multiple goals ?

asked 2018-05-29 06:43:40 -0500

Developer gravatar image

updated 2018-05-29 09:59:45 -0500


simpleaction server can not handle multiple goals.If i send 5 goals, it cancels the 2. 3. 4. goals. Is there any way to deal with case?


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answered 2018-05-29 07:24:53 -0500

updated 2018-05-29 07:29:04 -0500

See this Answer:

Summary (from linked Answer):

  • There is no limit to how many action servers a node can have. It is perfectly possible to have one ROS node with multiple action servers; just pass them different topic names on creation.
  • Each SimpleActionServer is limited to one goal; whenever there is a new incoming goal, the currently pending goal is cancelled. This behaviour is a simplification of the actionlib API which catches most use cases.
  • If you want to have a more sophisticated handling of goals, you are free to do so using the actionlib API directly (without the SimpleActionServer). You could have multiple goals executing in parallel, queue goals, and generally do whatever you want.
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thank you for the reference and answer, I have already seen that answer and ask a question here. I could not understand the third bullet point. How can I use actionlib API directly to get multiple goals?

Developer gravatar image Developer  ( 2018-05-29 08:50:25 -0500 )edit

I recommend you amend your question title to "How can I use actionlib API directly to send multiple goals" to more accurately reflect your actual question.

josephcoombe gravatar image josephcoombe  ( 2018-05-29 09:42:00 -0500 )edit

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Asked: 2018-05-29 06:43:40 -0500

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Last updated: May 29 '18