cancel_action.cpp

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/* Author: Andy Zelenak
  Description: Cancel any and all hybrid planning actions.
*/
 
#include <moveit_msgs/action/hybrid_planner.hpp>
#include <rclcpp/executors.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/node_options.hpp>
#include <rclcpp/utilities.hpp>
#include <rclcpp_action/client.hpp>
#include <rclcpp_action/create_client.hpp>
 
namespace
{
using HPAction = moveit_msgs::action::HybridPlanner;
}
 
int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  rclcpp::NodeOptions node_options;
  auto node = rclcpp::Node::make_shared("action_server_cancellation", "", node_options);
 
  rclcpp_action::Client<HPAction>::SharedPtr client_ptr =
      rclcpp_action::create_client<HPAction>(node, "/test/hybrid_planning/run_hybrid_planning");
  if (!client_ptr->wait_for_action_server(std::chrono::seconds(5)))
  {
    RCLCPP_ERROR(node->get_logger(), "Action server not available after waiting");
    rclcpp::shutdown();
  }
  client_ptr->async_cancel_all_goals();
  RCLCPP_ERROR(node->get_logger(), "Cancellation was requested.");
 
  rclcpp::spin(node);
  rclcpp::shutdown();
  return 0;
}