Cancel last goal sent by client
a cancel request for the tracked goal, which is the last one sent
to the action server. The specified client sends the request.
If the goal is in the
'active' state, the
server preempts the execution of the goal. If the goal is
it is recalled. If this client has not sent a goal, or if the previous
goal was achieved, this function returns immediately.
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,
Cancel all the goals on the action server that
actClient is connected to.
Delete the action client.
Disconnect from the ROS network.
Shutting down global node /matlab_global_node_40739 with NodeURI http://192.168.154.1:57343/
client— ROS action client
ROS action client, specified as a
handle. This simple action client enables you to track a single goal
at a time.