Cancel Action Goal

Cancel active action goal in ROS 2 network

Since R2024a

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Libraries:
ROS Toolbox / ROS 2

Description

The Cancel Action Goal block enables you to cancel an active action goal in a ROS 2 network. This block accepts the UUID input as a Simulink non-virtual bus of unique_identifier_msgs/UUID message type.

Note

To use this block, you must have at least one Send Action Goal that provides the UUID input to this block.

Ports

Input

UUID — Unique ID dedicated to any goal message

non-virtual bus

Unique ID dedicated to any goal message, specified as a non-virtual bus of message type unique_identifier_msgs/UUID.

Data Types: bus

Enable — Boolean value to send cancel request for an active action goal

true or 1 | false or 0

Boolean value to send cancel request for an active action goal, specified as a non-virtual bus set to true (1) or false (0). If you set the Enable port to true and a goal corresponding to the UUID input is running, this block sends a cancel goal request to the action server in the same time step.

Data Types: Boolean

Output

Response — Response message for cancel goal request

non-virtual bus

Response message for cancel goal request, specified as a non-virtual bus of action_msgs/CancelGoalResponse message type. If the action server accepts the cancel goal request, the goal will transition to canceling state.

Data Types: bus

ErrorCode — Error conditions while canceling action goal

integer

Error conditions while canceling action goal, specified as an integer.

Error Code	Condition
0	The action client sent the cancel goal request to the action server successfully.
1	The action goal cannot be cancelled because it is rejected or already in a terminal state. Terminal state refers to one of these action goal states: Goal is in succeeded state. Goal is in canceled state. Goal is in aborted state.
2	The action client failed to send the cancel goal request but the action server is available.
3	The action client failed to send the cancel goal request because the action server is unavailable.

Dependencies

This output is enabled when the Show ErrorCode output port is checked.

Data Types: uint8

Parameters

To edit block parameters interactively, use the Property Inspector. From the Simulink^® Toolstrip, on the Simulation tab, in the Prepare gallery, select Property Inspector.

Show ErrorCode output port — Enable error code output port

off (default) | on

Check this box to enable the ErrorCode output. If an error condition occurs, the Response port outputs a blank message specified as a non-virtual bus of action_msgs/CancelGoalResponse message type.

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using Simulink® Coder™.

Usage notes and limitations:

The Cancel Action Goal block follows rate-based execution and not event-driven execution.

Version History

Introduced in R2024a