ROS Action Server Reaching does not handle the abort/cancel
torydebra opened this issue · 2 comments
Hi @alaurenzi,
as we spoke in person it seems that the action server does not handle the request to abort the goal
for example, in python:
action_client.cancel_all_goals()
does not stop the execution
fyi @liesrock
I'm not sure about this anymore. From a quick test, publishing to /cartesian/<taskname>/reach/cancel
does abort the current goal (it appears to be treated as a preemption from the simple action server). Could you give this a try?
Yes you are right, also for me publishing there (from terminal) works.
Indeed publishing there is done also by the ros method cancel_all_goals
https://github.com/ros/actionlib/blob/3073509690976a8816636d41f04c013633f1c119/actionlib/src/actionlib/action_client.py#L567
So the problem is on my script somewhere that does not publish on that topic at all for some pythonic reason
thanks!