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ADVRHumanoids / CartesianInterface

Package for generic cartesian control of floating base robots. It includes a ROS-based front end, as well as a programmatic API that can be used inside a real-time loop.
GNU General Public License v3.0
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ROS Action Server Reaching does not handle the abort/cancel #75

Closed torydebra closed 2 years ago

torydebra commented 2 years ago

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

alaurenzi commented 2 years ago

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?

torydebra commented 2 years ago

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!