cancelAllGoals
Description
cancelAllGoals(
sends a cancel request
for all the active goals sent by the ROS 2 action client, client
)client
. The
function does not wait for the goals to be cancelled and returns immediately.
cancelAllGoals(
specifies a callback function to execute when the cancel response reaches the ROS 2 action
client using the name-value argument client
,CancelFcn=@cancelCallback)CancelFcn=@cancelCallback
. The
callback function must have the received cancel response message as the first input
argument. You can provide additional data to the callback using multiple subsequent input
arguments. This is indicated by the varargin
variable. This is an example function header signature:
function cancelCallback(cancelMsg,varargin)
Note
To supply additional data to the callback function, you can specify one additional
input argument. You must include both the callback function and the additional input
argument as elements of a cell array while defining the CancelFcn
name-value argument. For
example:
cancelAllGoals(client
,goalHandle
,CancelFcn={@cancelCallback,4.5}
)
Examples
Send and Cancel ROS 2 Action Goals
This example shows how to send and cancel ROS 2 action goals. Action types must be set up beforehand with an action server running. This example uses the /fibonacci
action. Follow these steps to set up the action server:
Create a ROS 2 package with the action definition. For instructions on setting up a /
fibonacci
action, see Creating an Action.Create a ROS 2 package with the action server implementation. For more information on setting up the
/fibonacci
action server, see Writing an Action Server.Use the
ros2genmsg
function for the ROS 2 package with action definition from Step 1, and generate action messages in MATLAB®.
To run the /fibonacci
action server, use this command on the ROS 2 system:
ros2 run action_tutorials_cpp fibonacci_action_server
Set Up ROS 2 Action Client
Create a ROS 2 node.
node = ros2node("/node_1");
Create an action client for /fibonacci
action by specifying the node, action name, and action type. Set the quality of service (QoS) parameters.Wait for the action client to connect to the server.
[client,goalMsg] = ros2actionclient(node,"fibonacci",... "action_tutorials_interfaces/Fibonacci", ... CancelServiceQoS=struct(Depth=200,History="keeplast"), ... FeedbackTopicQoS=struct(Depth=200,History="keepall")); status = waitForServer(client)
status = logical
1
Before sending the goal, define the callback options framework for the goal execution process. In this example, you specify a callback function to execute when the server returns a feedback response.
callbackOpts = ros2ActionSendGoalOptions(FeedbackFcn=@helperFeedbackCallback);
Send and Cancel Goals
The /fibonacci
action will calculate the /fibonacci
sequence for a given order specified in the goal message. The goal message was returned when creating the action client and can be modified to send goals to the ROS action server. Set the order to an int32
value of 8.
goalMsg.order = int32(8);
Create a new goal message and set the order to an int32
value of 10.
goalMsg2 = ros2message(client); goalMsg2.order = int32(10);
Send both the goals to the action server using the sendGoal
function. Specify the same callback options for both goals.
goalHandle = sendGoal(client,goalMsg,callbackOpts); goalHandle2 = sendGoal(client,goalMsg2,callbackOpts);
Goal with GoalUUID ca8dbca2b8608a6f2add01b298f6930 accepted by server, waiting for result! Partial sequence feedback for goal ca8dbca2b8608a6f2add01b298f6930 is 0 1 1 Goal with GoalUUID f493913f4acd2224f31145ae74bbc35 accepted by server, waiting for result! Partial sequence feedback for goal f493913f4acd2224f31145ae74bbc35 is 0 1 1
Cancel the specific goal associated with the sequence order 8
. Use the goal handle object associated with that goal as input to the cancelGoal
function, and specify the cancel callback to execute once the client receives the cancel response. This function returns immediately without waiting for the cancel response to arrive.
cancelGoal(client,goalHandle,CancelFcn=@helperCancelGoalCallback)
Goal ca8dbca2b8608a6f2add01b298f6930 is cancelled with return code 0
You can wait until the cancel response arrives from the server by using the cancelGoalAndWait
function. Cancel the goal associated with the sequence order of 10 and wait until the client receives the cancel response.
cancelResponse = cancelGoalAndWait(client,goalHandle2)
cancelResponse = struct with fields:
MessageType: 'action_msgs/CancelGoalResponse'
ERROR_NONE: 0
ERROR_REJECTED: 1
ERROR_UNKNOWN_GOAL_ID: 2
ERROR_GOAL_TERMINATED: 3
return_code: 0
goals_canceling: [1×1 struct]
Cancel Goals Before Timestamp
Send the goal message with sequence order 10
. Note the timestamp in a ROS 2 message by using the ros2time
function.
goalHandle = sendGoal(client,goalMsg2,callbackOpts);
timeStampMsg = ros2time(node,"now");
Goal with GoalUUID d8268c566b234e8784f0f1a8ec12b2 accepted by server, waiting for result! Partial sequence feedback for goal d8268c566b234e8784f0f1a8ec12b2 is 0 1 1
Then, send a second goal message with sequence order 8
. Note the timestamp.
goalHandle2 = sendGoal(client,goalMsg,callbackOpts);
timeStampMsg2 = ros2time(node,"now");
Goal with GoalUUID 9585bff2ba44bf60daa630a952b458be accepted by server, waiting for result! Partial sequence feedback for goal 9585bff2ba44bf60daa630a952b458be is 0 1 1
Cancel the goal sent before the first time stamp using cancelGoalsBefore
function.
cancelGoalsBefore(client,timeStampMsg,CancelFcn=@helperCancelGoalsCallback)
Goals cancelled with return code 0
Use the cancelGoalsBeforeAndWait
function to cancel the goal sent before second time stamp and wait for the cancel response.
cancelResponse = cancelGoalsBeforeAndWait(client,timeStampMsg2)
cancelResponse = struct with fields:
MessageType: 'action_msgs/CancelGoalResponse'
ERROR_NONE: 0
ERROR_REJECTED: 1
ERROR_UNKNOWN_GOAL_ID: 2
ERROR_GOAL_TERMINATED: 3
return_code: 0
goals_canceling: [1×1 struct]
Cancel All Goals
Cancel all the active goals that the client sent.
goalHandle = sendGoal(client,goalMsg,callbackOpts); cancelAllGoals(client,CancelFcn=@helperCancelGoalsCallback);
Goals cancelled with return code 0
Cancel all the active goals that the client sent and wait for cancel response.
goalHandle2 = sendGoal(client,goalMsg2,callbackOpts); cancelResponse = cancelAllGoalsAndWait(client)
cancelResponse = struct with fields:
MessageType: 'action_msgs/CancelGoalResponse'
ERROR_NONE: 0
ERROR_REJECTED: 1
ERROR_UNKNOWN_GOAL_ID: 2
ERROR_GOAL_TERMINATED: 3
return_code: 0
goals_canceling: [1×1 struct]
Helper Functions
helperFeedbackCallback
defines the callback function to execute when the client receives a feedback response from the action server.
function helperFeedbackCallback(goalHandle,feedbackMsg) seq = feedbackMsg.partial_sequence; disp(['Partial sequence feedback for goal ',goalHandle.GoalUUID,' is ',num2str(seq')]) end
helperCancelGoalCallback
defines the callback function to execute when the client receives a cancel response after canceling a specific goal.
function helperCancelGoalCallback(goalHandle,cancelMsg) code = cancelMsg.return_code; disp(['Goal ',goalHandle.GoalUUID,' is cancelled with return code ',num2str(code)]) end
helperCancelGoalsCallback
defines the callback function to execute when the client receives a cancel response after canceling a set of goals.
function helperCancelGoalsCallback(cancelMsg) code = cancelMsg.return_code; disp(['Goals cancelled with return code ',num2str(code)]) end
Input Arguments
client
— ROS 2 action client
ros2actionclient
object handle
ROS 2 action client, specified as a ros2actionclient
object
handle.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Usage notes and limitations:
The callback functions used to send and cancel goals must be specified while creating the
ros2actionclient
object using these name-value arguments.'SendGoalOptions'
— Specify a cell array of callback options structures for sending goals that you create using theros2ActionSendGoalOptions
function.'CancelFcn'
— Specify the cancel response callback that you use with thecancelGoal
function.'CancelAllFcn'
— Specify the cancel response callback that you use with thecancelAllGoals
function.'CancelBeforeFcn'
— Specify the cancel response callback that you use with thecancelGoalsBefore
function.
Note that these arguments are used for definition of
ros2actionclient
only and must be specified again at the time of usage in the respective function.callbackOpts1 = ros2ActionSendGoalOptions(FeedbackFcn=@glfeedback,ResultFcn=@glResult); callbackOpts2 = ros2ActionSendGoalOptions(FeedbackFcn=@glfeedback2,ResultFcn=@glResult2); [client] = ros2actionClient(node,"my_action","my_action_type",SendGoalOptions={callbackOpts1,callbackOpts2},CancelFcn=@cancelGoalCB,CancelAllFcn=@cancelGoalsCB); goalMsg = ros2message(client); goalHandle = sendGoal(client,goalMsg,callbackOpts1); cancelGoal(client,goalHandle,CancelFcn=@cancelGoalCB);
Version History
Introduced in R2023a
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