C++ (Cpp) Actions::Stop示例

void Experiment::stopAndMoveToStart(void)
{
  double rand_ang, rand_orientation, start_x, start_y;

  double x = odom_msg_.pose.pose.position.x, y = odom_msg_.pose.pose.position.y;
  ROS_INFO("X: %f, Y: %f, B0: %f, B1: %f, B2: %f, B3: %f", x, y, bounds_[0], 
           bounds_[1], bounds_[2], bounds_[3]);
	
	std_msgs::Float64 timeDiff;
	timeDiff.data = ros::Time::now().toSec() - last_time_;
	lc_pub_.publish(timeDiff);
	
  path_final_pub_.publish(path_msg_);
	mode_ = MODE_RETURN;
	ROS_INFO("Completed rep: %d, returning to start location", cnt_rep_); 
	actions_->Stop();
	//lc_->UpdateSteps(cnt_timesteps_);
	cnt_timesteps_ = 0;

  // Calculate next position
  rand_ang = 2.0 * M_PI * (rand() / ((double)RAND_MAX + 1));
  rand_orientation = 2.0 * M_PI * (rand() / ((double)RAND_MAX + 1));
  ROS_INFO("Rand_Ang: %f, Rand orient: %f", rand_ang, rand_orientation);
  start_x = goalx_ + start_radius_ * cos(rand_ang);
  start_y = goaly_ + start_radius_ * sin(rand_ang);
  
  // Send the next start position and wait for move_stopped flag
  geometry_msgs::Pose start_msg;
  start_msg.position.x = start_x;
  start_msg.position.y = start_y;
  start_msg.orientation = tf::createQuaternionMsgFromYaw(rand_orientation);
  move_pub_.publish(start_msg);
}