cancelAllGoals

Cancel all goals on action server

Syntax

cancelAllGoals(client)

Description

example

cancelAllGoals(client) sends a request from the specified client to the ROS action server to cancel all currently pending or active goals, including goals from other clients.

Examples

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Send and cancel goals for ROS actions. First, setup a ROS action client. Then send a goal message with modified parameters. Finally, cancel your goal and all goals on the action server.

Connect to a ROS network with a specified IP address. Create a ROS action client connected using rosactionclient. Specify the action name. Wait for the client to be connected to the server.

rosinit('192.168.154.131')
[actClient,goalMsg] = rosactionclient('/fibonacci');
waitForServer(actClient);
Initializing global node /matlab_global_node_40739 with NodeURI http://192.168.154.1:57343/

Send a goal message with modified parameters. Wait for the goal to finish executing.

goalMsg.Order = 4;
sendGoalAndWait(actClient,goalMsg)
Goal active
Feedback: 
  Sequence :  [0, 1, 1]
Feedback: 
  Sequence :  [0, 1, 1, 2]
Feedback: 
  Sequence :  [0, 1, 1, 2, 3]
Feedback: 
  Sequence :  [0, 1, 1, 2, 3, 5]

ans = 

  ROS FibonacciResult message with properties:

    MessageType: 'actionlib_tutorials/FibonacciResult'
       Sequence: [6×1 int32]

  Use showdetails to show the contents of the message

Send a new goal message without waiting.

goalMsg.Order = 5;
sendGoal(actClient,goalMsg)

Cancel the goal on the ROS action client, actClient.

cancelGoal(actClient)

Cancel all the goals on the action server that actClient is connected to.

cancelAllGoals(actClient)

Delete the action client.

delete(actClient)

Disconnect from the ROS network.

rosshutdown
Shutting down global node /matlab_global_node_40739 with NodeURI http://192.168.154.1:57343/

Input Arguments

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ROS action client, specified as a SimpleActionClient object handle. This simple action client enables you to track a single goal at a time.

Introduced in R2016b