Add ability to abort actions and plans

sea-bass / pyrobosim

ROS 2 enabled 2D mobile robot simulator for behavior prototyping.

https://pyrobosim.readthedocs.io/

MIT License

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Closed sea-bass closed 2 months ago

sea-bass commented 2 months ago

This involves:

Adding a method to the Robot class to internally abort running actions (should be easy)
Adding a mechanism to abort path executors to stop mid-execution (covered also in https://github.com/sea-bass/pyrobosim/issues/191)
Changing the ROS interface so the action servers are cancellable -- I think it will require a few more layers of ROS fun