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my-action-server

Example of how to use actionlib for multiple parallel processing of goals. Canceling works too.

How to use

Run the action server node

rosrun my_action_server my_action_server_node.py

Create new goals with

rosrun my_action_server goal_publisher.py

or by calling

rostopic pub /my_action_server/goal my_action_server/MyActionActionGoal "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
goal_id:
  stamp:
    secs: 0
    nsecs: 0
  id: ''
goal:
  number: 50
  time_to_wait:
    secs: 30
    nsecs: 0" 

publishing and latching message. Press ctrl-C to terminate

Cancel goals using

rostopic pub /my_action_server/cancel actionlib_msgs/GoalID "stamp:
  secs: 0
  nsecs: 0
id: ''"

if you want to cancel all goals sent an empty id. But if you want to cancel only a specific goal add the id of that goal. Example:

rostopic pub /my_action_server/cancel actionlib_msgs/GoalID "stamp:
  secs: 0
  nsecs: 0
id: '/my_action_server-3-1555752296.823899984'"

The my_action_server_node.py is printting the running goal id.

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