This example shows how to send and cancel goals for ROS actions. Action types must be setup beforehand with an action server running.
You must have set up the'/fibonacci'
action type. To run this action server, use the following command on the ROS system:
rosrun actionlib_tutorials fibonacci_server
First, set up 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 to the ROS network usingrosactionclient
. Specify the action name. Wait for the client to be connected to the server.
Initializing global node /matlab_global_node_18287 with NodeURI http://192.168.203.1:55284/
Send a goal message with modified parameters. Wait for the goal to finish executing.
resultMsg =struct with fields:MessageType: 'actionlib_tutorials/FibonacciResult' Sequence: [0 1 1 2 3]
ans = ' MessageType : actionlib_tutorials/FibonacciResult Sequence : [0, 1, 1, 2, 3]'
Send a new goal message without waiting.
Cancel the goal on the ROS action client,actClient
.
Cancel all the goals on the action server thatactClient
is connected to.
Delete the action client.
Disconnect from the ROS network.
Shutting down global node /matlab_global_node_18287 with NodeURI http://192.168.203.1:55284/