Best way to cancel action at shutdown?

[pirobot]

(Originally posted to py_trees by mistake instead of py_trees_ros.)

I need to cancel all move_base goals when I shut down my py_trees script. My move_base action behaviours use py_trees_ros.actions.ActionClient and I can move the robot around appropriately depending on the state of my behaviour tree. However, when I Ctrl-C my script, I need the robot to stop immediately so I need to cancel all move_base goals. I can do this by creating a standalone move_base action client via actionlib.SimpleActionClient in the main script and then calling cancel_all_goals() in my rospy.on_shutdown() function but this does not seem like a very "behaviour tree-like" way to do things.

Is there a better way using py_trees behaviors? I tried defining terminate() and/or stop() overrides for my move_base behaviors that then call move_base.cancel_all_goals() but these do not stop the robot from moving when doing a Ctrl-C on the main script.

[naveedhd]

should work out of the box with terminate() using py_trees_ros.actions.ActionClient. which version of ros/py_trees_ros are you using?

[stonier]

Sorry, didn't see this till @naveedhd replied.

As @naveedhd mentioned, if you have a shutdown hook in the tree manager that calls terminate(py_trees.common.Status.INVALID) on the root behaviour, it should percolate to your running action clients and cancel them in their teriminate methods.

[stonier]

Aging out. Reopen if you want to continue the discussion.