cancelAllGoals
Cancel all goals on action server
Syntax
Description
Examples
Send and Cancel ROS Action Goals
This example shows how to send and cancel goals for ROS actions. Action types must be setup beforehand with an action server running.
You must have set up the '/fibonacci'
action type. To run this action server, use the following command on the ROS system:
rosrun actionlib_tutorials fibonacci_server
First, set up 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 to the ROS network using rosactionclient
. Specify the action name. Wait for the client to be connected to the server.
rosinit('192.168.203.133',11311)
Initializing global node /matlab_global_node_18287 with NodeURI http://192.168.203.1:55284/
[actClient,goalMsg] = rosactionclient('/fibonacci','DataFormat','struct'); waitForServer(actClient);
Send a goal message with modified parameters. Wait for the goal to finish executing.
goalMsg.Order = int32(4); [resultMsg,resultState] = sendGoalAndWait(actClient,goalMsg)
resultMsg = struct with fields:
MessageType: 'actionlib_tutorials/FibonacciResult'
Sequence: [0 1 1 2 3]
resultState = 'succeeded'
rosShowDetails(resultMsg)
ans = ' MessageType : actionlib_tutorials/FibonacciResult Sequence : [0, 1, 1, 2, 3]'
Send a new goal message without waiting.
goalMsg.Order = int32(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_18287 with NodeURI http://192.168.203.1:55284/
Input Arguments
client
— ROS action client
SimpleActionClient
object handle
ROS action client, specified as a SimpleActionClient
object
handle. This simple action client enables you to track a single goal
at a time.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Usage notes and limitations:
Supported only for the Build Type,
Executable
.Usage in MATLAB Function block is not supported.
Version History
Introduced in R2019b
MATLAB Command
You clicked a link that corresponds to this MATLAB command:
Run the command by entering it in the MATLAB Command Window. Web browsers do not support MATLAB commands.
Select a Web Site
Choose a web site to get translated content where available and see local events and offers. Based on your location, we recommend that you select: .
You can also select a web site from the following list:
How to Get Best Site Performance
Select the China site (in Chinese or English) for best site performance. Other MathWorks country sites are not optimized for visits from your location.
Americas
- América Latina (Español)
- Canada (English)
- United States (English)
Europe
- Belgium (English)
- Denmark (English)
- Deutschland (Deutsch)
- España (Español)
- Finland (English)
- France (Français)
- Ireland (English)
- Italia (Italiano)
- Luxembourg (English)
- Netherlands (English)
- Norway (English)
- Österreich (Deutsch)
- Portugal (English)
- Sweden (English)
- Switzerland
- United Kingdom (English)