cancelGoal

Cancel last goal sent by client

Syntax

cancelGoal(client)

Description

example

cancelGoal(client) sends 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 'pending', it is recalled. If this client has not sent a goal, or if the previous goal was achieved, this function returns immediately.

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