www.gusucode.com > robotics 案例源码程序 matlab代码 > robotics/CancelROSActionGoalsExample.m
%% Send and Cancel ROS Action Goals % Send and cancel goals for ROS actions. First, setup a ROS action client. % Then send a goal message with modified parameters. Finally, cancel your % goal and all goals on the action server. %% % Connect to a ROS network with a specified IP address. Create a ROS action % client connected using |rosactionclient|. Specify the action name. Wait % for the client to be connected to the server. rosinit('192.168.154.131') [actClient,goalMsg] = rosactionclient('/fibonacci'); waitForServer(actClient); %% % Send a goal message with modified parameters. Wait for the goal to finish % executing. goalMsg.Order = 4; sendGoalAndWait(actClient,goalMsg) %% % Send a new goal message without waiting. goalMsg.Order = 5; sendGoal(actClient,goalMsg) %% % Cancel the goal on the ROS action client, |actClient|. cancelGoal(actClient) %% % Cancel all the goals on the action server that |actClient| is connected % to. cancelAllGoals(actClient) %% % Delete the action client. delete(actClient) %% % Disconnect from the ROS network. rosshutdown