Cancel Action Goal

R2026b

Cancel active action goal in ROS 2 network

Since R2024a

• 

Cancel Action Goal ROS 2 block

To add a block to a model, double-click the canvas and start typing the block name. Then, select the block from the list.

Libraries:
ROS Toolbox / ROS 2

Description

The Cancel Action Goal block enables you to cancel an active action goal in a ROS 2 network. This block accepts the UUID input as a Simulink^® non-virtual bus of unique_identifier_msgs/UUID message type.

Note

To use this block, you must have at least one Send Action Goal that provides the UUID input to this block.

Ports

Input

UUID — Unique ID dedicated to any goal message

non-virtual bus

Unique ID dedicated to any goal message, specified as a non-virtual bus of message type unique_identifier_msgs/UUID.

Data Types: bus

Enable — Boolean value to send cancel request for an active action goal

true or 1 | false or 0

Boolean value to send cancel request for an active action goal, specified as a non-virtual bus set to true (1) or false (0). If you set the Enable port to true and a goal corresponding to the UUID input is running, this block sends a cancel goal request to the action server in the same time step.

Data Types: Boolean

Output

Response — Response message for cancel goal request

non-virtual bus

Response message for cancel goal request, specified as a non-virtual bus of action_msgs/CancelGoalResponse message type. If the action server accepts the cancel goal request, the goal transitions to the canceling state.

Data Types: bus

ErrorCode — Error conditions while canceling action goal

integer

Error conditions while canceling action goal, specified as an integer.

Error Code	Description
0	The action client sent the cancel goal request to the action server successfully.
1	The action goal cannot be canceled because it is rejected or already in a terminal state. Terminal state refers to one of these action goal states: Goal is in succeeded state. Goal is in canceled state. Goal is in aborted state.
2	The action client failed to send the cancel goal request but the action server is available.
3	The action client failed to send the cancel goal request because the action server is unavailable.

Dependencies

To enable this port, select the Show ErrorCode output port parameter.

Data Types: uint8

Parameters

To edit block parameters interactively, use the Property Inspector. From the Simulink Toolstrip, on the Simulation tab, in the Prepare gallery, select Property Inspector.

Show ErrorCode output port — Enable error code output port

off (default) | on

Check this box to enable the ErrorCode output. If an error condition occurs, the Response port outputs a blank message specified as a non-virtual bus of action_msgs/CancelGoalResponse message type.

Programmatic Use: Add Block

To add the block programmatically, use the add_block function with one of these library block paths as the source.

"ros2lib/Cancel Action Goal"

Example: add_block("ros2lib/Cancel Action Goal","myModel/myBlock",MakeNameUnique="on")

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using Simulink® Coder™.

Usage notes and limitations:

The Cancel Action Goal block follows rate-based execution and not event-driven execution.

Version History

Introduced in R2024a