C++ (Cpp) SimpleActionClient::cancelGoalの例

コード例 #1

ファイル: move_arm_simple_pose_goal.cpp プロジェクト: hicannon/scrubber

void actualizeGoal(ros::NodeHandle& nh,
                   actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction>& client,
                   arm_navigation_msgs::MoveArmGoal goal) {
  if (nh.ok())
  {
    bool finished_within_time = false;
    client.sendGoal(goal);
    finished_within_time = client.waitForResult(ros::Duration(200.0));
    if (!finished_within_time)
    {
      client.cancelGoal();
      ROS_INFO("Timed out achieving goal");
    }
    else
    {
      actionlib::SimpleClientGoalState state = client.getState();
      bool success = (state == actionlib::SimpleClientGoalState::SUCCEEDED);
      if(success)
        ROS_INFO("Action finished: %s",state.toString().c_str());
      else
        ROS_INFO("Action failed: %s",state.toString().c_str());
    }
  } 
}