async_cancel...() on client

ros2 · Nov 16, 2018 · e79f5da · e79f5da
1 parent a2b0cbe
commit e79f5da
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/rclcpp_action/include/rclcpp_action/client.hpp b/rclcpp_action/include/rclcpp_action/client.hpp
@@ -18,6 +18,7 @@
 
 #include <rosidl_generator_c/action_type_support_struct.h>
 #include <rclcpp/node_interfaces/node_base_interface.hpp>
+#include <rclcpp/time.hpp>
 #include <rosidl_typesupport_cpp/action_type_support.hpp>
 
 #include <functional>
@@ -82,6 +83,14 @@ class Client : public ClientBase
   ClientGoalHandle<ACTION>
   async_send_goal(typename ACTION::Goal * goal, FeedbackCallback callback = nullptr);
 
+  RCLCPP_ACTION_PUBLIC
+  std::future<typename ACTION::CancelGoalService::Response>
+  async_cancel_all_goals();
+
+  RCLCPP_ACTION_PUBLIC
+  std::future<typename ACTION::CancelGoalService::Response>
+  async_cancel_goals_before(rclcpp::Time);
+
   virtual ~Client()
   {
   }